⚡️Improve eventbus static alloc

https://github.com/Jerome-Graves/yertle/

.github/workflows/embedded-build.yml

@@ -4,18 +4,17 @@ on:
   push:
     branches: [master]
     paths:
-        - 'esp32/**'  
+      - "esp32/**"
+      - "platformio.ini"
   pull_request:
     branches: [master]
     paths:
-        - 'esp32/**'  
+      - "esp32/**"
+      - "platformio.ini"
 
 jobs:
   build:
     runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: ./esp32
 
     steps:
       - uses: actions/checkout@v3
@@ -28,8 +27,8 @@ jobs:
 
       - uses: actions/setup-python@v4
         with:
-          python-version: '3.x'
+          python-version: "3.x"
-      - run: pip install -r ./scripts/requirements.txt
+      - run: pip install -r esp32/scripts/requirements.txt
       - name: Install PlatformIO Core
         run: pip install --upgrade platformio
 
@@ -37,7 +36,7 @@ jobs:
         run: pio run
 
       - name: Upload Artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: build-artifacts
           path: esp32/build/firmware

.github/workflows/frontend-tests.yml

@@ -23,7 +23,7 @@ jobs:
     - uses: actions/checkout@v4
     - uses: pnpm/action-setup@v2
       with:
-        version: 8
+        version: 9
 
     - name: Setup Node.js
       uses: actions/setup-node@v4

.gitignore

@@ -2,3 +2,8 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+
+__pycache__/
+*.py[cod]
+*$py.class
+.pio

app/.prettierrc

@@ -1,8 +1,13 @@
 {
-	"useTabs": true,
+    "useTabs": false,
     "singleQuote": true,
+    "tabWidth": 2,
     "trailingComma": "none",
+    "arrowParens": "avoid",
+    "experimentalTernaries": true,
     "printWidth": 100,
+    "semi": false,
+    "svelteBracketNewLine": false,
     "plugins": ["prettier-plugin-svelte"],
     "overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }]
 }

app/README.md

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

app/env.d.ts

@@ -0,0 +1,8 @@
+declare module "app-env" {
+  interface ENV {
+    VITE_USE_HOST_NAME: boolean;
+  }
+
+  const appEnv: ENV;
+  export default appEnv;
+}

app/package.json

@@ -5,8 +5,9 @@
   "scripts": {
     "dev": "vite dev --host",
     "build": "vite build",
+    "build:embedded": "cross-env VITE_USE_HOST_NAME=true vite build",
     "preview": "vite preview",
-		"test": "npm run test:integration && npm run test:unit",
+    "test": "pnpm run test:integration && pnpm run test:unit",
     "check": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json",
     "check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch",
     "lint": "prettier --check . && eslint .",
@@ -17,11 +18,10 @@
   "devDependencies": {
     "@iconify-json/mdi": "^1.1.64",
     "@iconify-json/tabler": "^1.1.109",
-		"@playwright/test": "^1.28.1",
+    "@playwright/test": "^1.49.1",
-		"@sveltejs/adapter-auto": "^3.0.0",
     "@sveltejs/adapter-static": "^3.0.1",
-		"@sveltejs/kit": "^2.5.5",
+    "@sveltejs/kit": "^2.5.27",
-		"@sveltejs/vite-plugin-svelte": "^3.0.0",
+    "@sveltejs/vite-plugin-svelte": "^5.0.3",
     "@types/eslint": "^8.56.0",
     "@types/three": "^0.162.0",
     "@typescript-eslint/eslint-plugin": "^7.0.0",
@@ -29,33 +29,39 @@
     "autoprefixer": "^10.4.19",
     "eslint": "^8.56.0",
     "eslint-config-prettier": "^9.1.0",
-		"eslint-plugin-svelte": "^2.35.1",
+    "eslint-plugin-svelte": "^2.45.1",
     "jsdom": "^24.0.0",
-		"postcss": "^8.4.38",
     "prettier": "^3.1.1",
-		"prettier-plugin-svelte": "^3.1.2",
+    "prettier-plugin-svelte": "^3.2.6",
-		"svelte": "^4.2.7",
+    "svelte": "^5.0.0",
-		"svelte-check": "^3.6.0",
+    "svelte-check": "^4.0.0",
     "svelte-focus-trap": "^1.2.0",
-		"tailwindcss": "^3.4.3",
+    "tailwindcss": "^4.0.12",
     "tslib": "^2.6.1",
-		"typescript": "^5.1.6",
+    "typescript": "^5.5.0",
     "unplugin-icons": "^0.18.5",
-		"vite": "^5.0.3",
+    "vite": "^6.2.1",
     "vitest": "^1.2.0"
   },
   "type": "module",
   "dependencies": {
+    "@niku/vite-env-caster": "^1.0.2",
+    "@sveltejs/adapter-auto": "^4.0.0",
+    "@tailwindcss/vite": "^4.0.12",
     "chart.js": "^4.4.2",
     "compare-versions": "^6.1.0",
-		"daisyui": "^4.10.2",
+    "cross-env": "^7.0.3",
+    "daisyui": "^5.0.0",
     "jwt-decode": "^4.0.0",
     "nipplejs": "^0.10.1",
     "svelte-dnd-list": "^0.1.8",
-		"svelte-modals": "^1.3.0",
+    "svelte-modals": "^2.0.0",
     "three": "^0.162.0",
     "urdf-loader": "^0.12.1",
     "uzip": "^0.20201231.0",
-		"xacro-parser": "^0.3.9"
+    "xacro-parser": "^0.3.9",
-	}
+    "@types/msgpack-lite": "^0.1.11",
+    "msgpack-lite": "^0.1.26"
+  },
+  "packageManager": "pnpm@9.3.0"
 }

app/postcss.config.js

@@ -1,5 +0,0 @@
-import tailwindcss from 'tailwindcss';
-import autoprefixer from 'autoprefixer';
-export default {
-	plugins: [tailwindcss(), autoprefixer()]
-};

app/src/app.css

@@ -1,8 +1,30 @@
-@tailwind base;
+@import 'tailwindcss';
-@tailwind components;
+@plugin "daisyui";
-@tailwind utilities;
 
-#nipple_0_0, #nipple_1_1 {
+@plugin "daisyui" {
+    themes:
+        light --default,
+        dark --prefersdark;
+}
+
+@plugin "daisyui/theme" {
+    name: 'light';
+    default: true;
+    --color-primary: #00bfff;
+    --color-secondary: #3c00ff;
+    --base-content: white;
+}
+
+@plugin "daisyui/theme" {
+    name: 'dark';
+    prefersdark: true;
+    --color-primary: #00bfff;
+    --color-secondary: #3c00ff;
+    --base-content: oklch(0.3 0.012 256);
+}
+
+#nipple_0_0,
+#nipple_1_1 {
     z-index: 10 !important;
 }
 

app/src/app.html

@@ -3,7 +3,9 @@
 	<head>
 		<meta charset="utf-8" />
 		<link rel="icon" href="%sveltekit.assets%/logo512.png" />
-		<meta name="viewport" content="width=device-width, initial-scale=1" />
+		<meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1" />
+		<meta name="apple-mobile-web-app-capable" content="yes" />
+		<meta name="mobile-web-app-capable" content="yes" />
 		%sveltekit.head%
 	</head>
 	<body data-sveltekit-preload-data="hover">

app/src/lib/api.ts

@@ -1,6 +1,6 @@
-import { user } from '$lib/stores/user';
 import { get } from 'svelte/store';
 import { Err, Ok, type Result } from './utilities';
+import { location } from './stores';
 
 export namespace api {
     export function get<TResponse>(endpoint: string, params?: RequestInit) {
@@ -26,7 +26,7 @@ async function sendRequest<TResponse>(
     data?: unknown,
     params?: RequestInit
 ): Promise<Result<TResponse, Error>> {
-	const user_token = get(user).bearer_token;
+    endpoint = resolveUrl(endpoint);
     const body = data !== null && typeof data !== 'undefined' ? JSON.stringify(data) : undefined;
 
     const request = {
@@ -35,7 +35,7 @@ async function sendRequest<TResponse>(
         body,
         headers: {
             ...params?.headers,
-			Authorization: user_token ? 'Bearer ' + user_token : 'Basic',
+            Authorization: 'Basic',
             'Content-Type': 'application/json'
         }
     };
@@ -56,7 +56,8 @@ async function sendRequest<TResponse>(
         return Err.new(new ApiError(response), 'An error has occurred');
     }
 
-	const contentType = response.headers.get('Content-Type') ?? response.headers.get('Content-Type');
+    const contentType =
+        response.headers.get('Content-Type') ?? response.headers.get('Content-Type');
     if (contentType && contentType.includes('application/json')) {
         const data = await response.json();
         return Ok.new(data as TResponse);
@@ -66,6 +67,12 @@ async function sendRequest<TResponse>(
     }
 }
 
+function resolveUrl(url: string): string {
+    if (url.startsWith('http') || !get(location)) return url;
+    const protocol = window.location.protocol;
+    return `${protocol}//${get(location)}${url.startsWith('/') ? '' : '/'}${url}`;
+}
+
 export class ApiError extends Error {
     constructor(public readonly response: Response) {
         super(`${response.status}`);

app/src/lib/components/BatteryIndicator.svelte

@@ -1,27 +0,0 @@
-<script lang="ts">
-	import Battery0 from '~icons/tabler/battery';
-	import Battery25 from '~icons/tabler/battery-1';
-	import Battery50 from '~icons/tabler/battery-2';
-	import Battery75 from '~icons/tabler/battery-3';
-	import Battery100 from '~icons/tabler/battery-4';
-	import BatteryCharging from '~icons/tabler/battery-charging-2';
-
-	export let current = 0;
-	export let voltage = 0;
-</script>
-
-<div class="tooltip tooltip-left z-10" data-tip="{voltage}V {Math.floor(current*10)/10} mA">
-	{#if voltage == 0}
-		<BatteryCharging class="{$$props.class || ''} -rotate-90 animate-pulse" />
-	{:else if voltage > 8.2}
-		<Battery100 class="{$$props.class || ''} -rotate-90" />
-	{:else if voltage > 8}
-		<Battery75 class="{$$props.class || ''} -rotate-90" />
-	{:else if voltage > 7.8}
-		<Battery50 class="{$$props.class || ''} -rotate-90" />
-	{:else if voltage > 7.6}
-		<Battery25 class="{$$props.class || ''} -rotate-90" />
-	{:else}
-		<Battery0 class="{$$props.class || ''} text-error -rotate-90 animate-pulse" />
-	{/if}
-</div>

app/src/lib/components/Collapsible.svelte

@@ -1,33 +1,34 @@
 <script lang="ts">
     import { slide } from 'svelte/transition';
     import { cubicOut } from 'svelte/easing';
-	import Down from '~icons/tabler/chevron-down';
+    import { Down } from './icons';
-	import { createEventDispatcher } from 'svelte';
-
-	const dispatch = createEventDispatcher();
 
     function openCollapsible() {
         open = !open;
         if (open) {
-			dispatch('opened');
+            opened();
         } else {
-			dispatch('closed');
+            closed();
         }
     }
 
-	export let open = false;
+    let { icon, title, children, open, opened, closed, class: klass } = $props();
 </script>
 
-<div class="{$$props.class || ''} relative grid w-full max-w-2xl self-center overflow-hidden">
+<div class="{klass} relative grid w-full max-w-2xl self-center overflow-hidden">
-	<div class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium">
+    <div
+        class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
+    >
         <span class="inline-flex items-baseline">
-			<slot name="icon" />
+            {@render icon?.()}
-			<slot name="title" />
+            {@render title?.()}
         </span>
-		<button class="btn btn-circle btn-ghost btn-sm" on:click={() => openCollapsible()}>
+        <button class="btn btn-circle btn-ghost btn-sm" onclick={() => openCollapsible()}>
             <Down
-				class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open
+                class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {(
-					? 'rotate-180'
+                    open
+                ) ?
+                    'rotate-180'
                 :   ''}"
             />
         </button>
@@ -37,7 +38,7 @@
             class="flex flex-col gap-2 p-4 pt-0"
             transition:slide|local={{ duration: 300, easing: cubicOut }}
         >
-			<slot />
+            {@render children?.()}
         </div>
     {/if}
 </div>

app/src/lib/components/ConfirmDialog.svelte

@@ -1,51 +1,42 @@
 <script lang="ts">
-	import { closeModal } from 'svelte-modals';
+  import { focusTrap } from 'svelte-focus-trap'
-	import { focusTrap } from 'svelte-focus-trap';
+  import { fly } from 'svelte/transition'
-	import { fly } from 'svelte/transition';
+  import { Cancel, Check } from '$lib/components/icons'
-	import Cancel from '~icons/tabler/x';
+  import { modals, exitBeforeEnter, type ModalProps } from 'svelte-modals'
-	import Check from '~icons/tabler/check';
 
-	// provided by <Modals />
+  let {
-	export let isOpen: boolean;
+    isOpen,
-
+    title,
-	export let title: string;
+    message,
-	export let message: string;
+    onConfirm,
-	export let onConfirm: any;
+    labels = {
-	export let labels = {
       cancel: { label: 'Cancel', icon: Cancel },
       confirm: { label: 'OK', icon: Check }
-	};
+    }
+  }: ModalProps = $props()
 </script>
 
 {#if isOpen}
+  {@const SvelteComponent = labels?.confirm.icon}
   <div
     role="dialog"
     class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
     transition:fly={{ y: 50 }}
-		on:introstart
+    use:exitBeforeEnter
-		on:outroend
+    use:focusTrap>
-        use:focusTrap
-	>
     <div
-			class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
+      class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg">
-		>
       <h2 class="text-base-content text-start text-2xl font-bold">{title}</h2>
-			<div class="divider my-2" />
+      <div class="divider my-2"></div>
       <p class="text-base-content mb-1 text-start">{message}</p>
-			<div class="divider my-2" />
+      <div class="divider my-2"></div>
       <div class="flex justify-end gap-2">
-				<button class="btn btn-primary inline-flex items-center" on:click={closeModal}
+        <button class="btn btn-error inline-flex items-center" onclick={() => modals.close()}>
-					><svelte:component this={labels.cancel.icon} class="mr-2 h-5 w-5" /><span
+          <labels.cancel.icon class="mr-2 h-5 w-5" /><span>{labels?.cancel.label}</span>
-						>{labels?.cancel.label}</span
+        </button>
-					></button
+        <button class="btn btn-primary inline-flex items-center" onclick={onConfirm}>
-				>
+          <SvelteComponent class="mr-2 h-5 w-5" /><span>{labels?.confirm.label}</span>
-				<button
+        </button>
-					class="btn btn-warning text-warning-content inline-flex items-center"
-					on:click={onConfirm}
-					><svelte:component this={labels?.confirm.icon} class="mr-2 h-5 w-5" /><span
-						>{labels?.confirm.label}</span
-					></button
-				>
       </div>
     </div>
   </div>

app/src/lib/components/GithubUpdateDialog.svelte

@@ -1,28 +1,36 @@
 <script lang="ts">
-	import { closeAllModals, onBeforeClose } from 'svelte-modals';
     import { focusTrap } from 'svelte-focus-trap';
     import { fly } from 'svelte/transition';
     import { telemetry } from '$lib/stores/telemetry';
-	import Cancel from '~icons/tabler/x';
+    import { Cancel } from './icons';
+    import { modals, exitBeforeEnter, onBeforeClose } from 'svelte-modals';
 
     // provided by <Modals />
-	export let isOpen: boolean;
+    interface Props {
+        isOpen: boolean;
+    }
 
-	let updating = true;
+    let { isOpen }: Props = $props();
 
-	let progress = 0;
+    let updating = $state(true);
-	$: if ($telemetry.download_ota.status == 'progress') {
+
+    let progress = $state(0);
+    $effect(() => {
+        if ($telemetry.download_ota.status == 'progress') {
             progress = $telemetry.download_ota.progress;
         }
+    });
 
-	$: if ($telemetry.download_ota.status == 'error') {
+    $effect(() => {
+        if ($telemetry.download_ota.status == 'error') {
             updating = false;
         }
+    });
 
-	let message = 'Preparing ...';
+    let message = $state('Preparing ...');
-	let timerId: number;
 
-	$: if ($telemetry.download_ota.status == 'progress') {
+    $effect(() => {
+        if ($telemetry.download_ota.status == 'progress') {
             message = 'Downloading ...';
         } else if ($telemetry.download_ota.status == 'error') {
             message = $telemetry.download_ota.error;
@@ -30,11 +38,12 @@
             message = 'Restarting ...';
             progress = 0;
             // Reload page after 5 sec
-		timerId = setTimeout(() => {
+            setTimeout(() => {
-			closeAllModals();
+                modals.closeAll();
                 location.reload();
             }, 5000);
         }
+    });
 
     onBeforeClose(() => {
         if (updating) {
@@ -54,33 +63,33 @@
         role="dialog"
         class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
         transition:fly={{ y: 50 }}
-		on:introstart
+        use:exitBeforeEnter
-		on:outroend
         use:focusTrap
     >
         <div
             class="bg-base-100 rounded-box pointer-events-auto flex max-h-full min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
         >
             <h2 class="text-base-content text-start text-2xl font-bold">Updating Firmware</h2>
-			<div class="divider my-2" />
+            <div class="divider my-2"></div>
             <div class="overflow-y-auto">
                 <div class="bg-base-100 flex flex-col items-center justify-center p-6">
                     {#if $telemetry.download_ota.status == 'progress'}
-						<progress class="progress progress-primary w-56" value={progress} max="100" />
+                        <progress class="progress progress-primary w-56" value={progress} max="100"
+                        ></progress>
                     {:else}
-						<progress class="progress progress-primary w-56" />
+                        <progress class="progress progress-primary w-56"></progress>
                     {/if}
                     <p class="mt-8 text-2xl">{message}</p>
                 </div>
             </div>
-			<div class="divider my-2" />
+            <div class="divider my-2"></div>
             <div class="flex flex-wrap justify-end gap-2">
-				<div class="flex-grow" />
+                <div class="grow"></div>
                 <button
                     class="btn btn-warning text-warning-content inline-flex flex-none items-center"
                     disabled={updating}
-					on:click={() => {
+                    onclick={() => {
-						closeAllModals();
+                        modals.closeAll();
                         location.reload();
                     }}
                 >

app/src/lib/components/InfoDialog.svelte

@@ -1,16 +1,26 @@
 <script lang="ts">
-	import { closeModal } from 'svelte-modals';
     import { focusTrap } from 'svelte-focus-trap';
     import { fly } from 'svelte/transition';
-	import Check from '~icons/tabler/check';
+    import { Check } from './icons';
+    import { exitBeforeEnter } from 'svelte-modals';
 
     // provided by <Modals />
-	export let isOpen: boolean;
 
-	export let title: string;
+    interface Props {
-	export let message: string;
+        isOpen: boolean;
-	export let onDismiss: any;
+        title: string;
-	export let dismiss = { label: 'Dismiss', icon: Check };
+        message: string;
+        onDismiss: any;
+        dismiss?: any;
+    }
+
+    let {
+        isOpen,
+        title,
+        message,
+        onDismiss,
+        dismiss = { label: 'Dismiss', icon: Check }
+    }: Props = $props();
 </script>
 
 {#if isOpen}
@@ -18,24 +28,23 @@
         role="dialog"
         class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
         transition:fly={{ y: 50 }}
-		on:introstart
+        use:exitBeforeEnter
-		on:outroend
         use:focusTrap
     >
         <div
             class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
         >
             <h2 class="text-base-content text-start text-2xl font-bold">{title}</h2>
-			<div class="divider my-2" />
+            <div class="divider my-2"></div>
             <p class="text-base-content mb-1 text-start">{message}</p>
-			<div class="divider my-2" />
+            <div class="divider my-2"></div>
             <div class="flex justify-end gap-2">
                 <button
                     class="btn btn-warning text-warning-content inline-flex items-center"
-					on:click={onDismiss}
+                    onclick={onDismiss}
-					><svelte:component this={dismiss.icon} class="mr-2 h-5 w-5" /><span>{dismiss.label}</span
-					></button
                 >
+                    <dismiss.icon class="mr-2 h-5 w-5" /><span>{dismiss.label}</span>
+                </button>
             </div>
         </div>
     </div>

app/src/lib/components/InputPassword.svelte

@@ -1,60 +0,0 @@
-<script lang="ts">
-	let show = false;
-	$: type = show ? 'text' : 'password';
-
-	export let value = '';
-	export let id = '';
-	function handleInput(e: any) {
-		value = e.target.value;
-	}
-</script>
-
-<div class="relative">
-	<input {type} class="input input-bordered w-full" {value} on:input={handleInput} {id} />
-	<div class="absolute inset-y-0 right-0 flex items-center pr-1">
-		<!-- svelte-ignore a11y-click-events-have-key-events -->
-		<svg
-			xmlns="http://www.w3.org/2000/svg"
-			class="text-base-content/50 h-6 {show ? 'block' : 'hidden'}"
-			on:click={() => (show = false)}
-			width="40"
-			height="40"
-			viewBox="0 0 24 24"
-			stroke-width="2"
-			stroke="currentColor"
-			fill="none"
-            role="button"
-            tabindex="0"
-			stroke-linecap="round"
-			stroke-linejoin="round"
-		>
-			<path stroke="none" d="M0 0h24v24H0z" fill="none" />
-			<path d="M10.585 10.587a2 2 0 0 0 2.829 2.828" />
-			<path
-				d="M16.681 16.673a8.717 8.717 0 0 1 -4.681 1.327c-3.6 0 -6.6 -2 -9 -6c1.272 -2.12 2.712 -3.678 4.32 -4.674m2.86 -1.146a9.055 9.055 0 0 1 1.82 -.18c3.6 0 6.6 2 9 6c-.666 1.11 -1.379 2.067 -2.138 2.87"
-			/>
-			<path d="M3 3l18 18" />
-		</svg>
-
-		<!-- svelte-ignore a11y-click-events-have-key-events -->
-		<svg
-			xmlns="http://www.w3.org/2000/svg"
-			class="text-base-content/50 h-6 {show ? 'hidden' : 'block'}"
-			on:click={() => (show = true)}
-			width="40"
-			height="40"
-			viewBox="0 0 24 24"
-			stroke-width="2"
-			stroke="currentColor"
-			fill="none"
-            role="button"
-            tabindex="0"
-			stroke-linecap="round"
-			stroke-linejoin="round"
-		>
-			<path stroke="none" d="M0 0h24v24H0z" fill="none" />
-			<path d="M10 12a2 2 0 1 0 4 0a2 2 0 0 0 -4 0" />
-			<path d="M21 12c-2.4 4 -5.4 6 -9 6c-3.6 0 -6.6 -2 -9 -6c2.4 -4 5.4 -6 9 -6c3.6 0 6.6 2 9 6" />
-		</svg>
-	</div>
-</div>

app/src/lib/components/OrientationIndicator.svelte

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

app/src/lib/components/RSSIIndicator.svelte

@@ -1,40 +0,0 @@
-<script lang="ts">
-	import WiFi from '~icons/tabler/wifi';
-	import WiFi0 from '~icons/tabler/wifi-0';
-	import WiFi1 from '~icons/tabler/wifi-1';
-	import WiFi2 from '~icons/tabler/wifi-2';
-    import WifiOff from '~icons/tabler/wifi-off';
-
-	export let showDBm = true;
-	export let rssi_dbm = 0;
-</script>
-
-<div class="indicator">
-	<div class="tooltip tooltip-left" data-tip={rssi_dbm + " dBm"}>
-		{#if showDBm}
-			<span class="indicator-item indicator-start badge badge-accent badge-outline badge-xs">
-				{rssi_dbm} dBm
-			</span>
-		{/if}
-		{#if rssi_dbm >= -55}
-			<WiFi class={$$props.class || ''} />
-		{:else if rssi_dbm >= -75}
-			<div class="{$$props.class || ''} relative">
-				<WiFi class="absolute inset-0 h-full w-full opacity-30" />
-				<WiFi2 class="absolute inset-0 h-full w-full" />
-			</div>
-		{:else if rssi_dbm >= -85}
-			<div class="{$$props.class || ''} relative">
-				<WiFi class="absolute inset-0 h-full w-full opacity-30" />
-				<WiFi1 class="absolute inset-0 h-full w-full" />
-			</div>
-        {:else if rssi_dbm === 0}
-            <WifiOff class={$$props.class || ''} />
-		{:else}
-			<div class="{$$props.class || ''} relative">
-				<WiFi class="absolute inset-0 h-full w-full opacity-30" />
-				<WiFi0 class="absolute inset-0 h-full w-full" />
-			</div>
-		{/if}
-	</div>
-</div>

app/src/lib/components/SettingsCard.svelte

@@ -1,56 +1,60 @@
 <script lang="ts">
-	import { slide } from 'svelte/transition';
+  import { slide } from 'svelte/transition'
-	import { cubicOut } from 'svelte/easing';
+  import { cubicOut } from 'svelte/easing'
-	import Down from '~icons/tabler/chevron-down';
+  import { Down } from './icons'
-	export let open = true;
+  interface Props {
-	export let collapsible = true;
+    open?: boolean
+    collapsible?: boolean
+    icon?: import('svelte').Snippet
+    title?: import('svelte').Snippet
+    children?: import('svelte').Snippet
+    right?: import('svelte').Snippet
+  }
+
+  let { open = $bindable(true), collapsible = true, icon, title, children, right }: Props = $props()
 </script>
 
 {#if collapsible}
   <div
-		class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
+    class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg">
-	>
     <div
-			class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
+      class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium">
-		>
       <span class="inline-flex items-baseline">
-				<slot name="icon" />
+        {@render icon?.()}
-				<slot name="title" />
+        {@render title?.()}
       </span>
       <button
         class="btn btn-circle btn-ghost btn-sm"
-				on:click={() => {
+        onclick={() => {
-					open = !open;
+          open = !open
-				}}
+        }}>
-			>
         <Down
-					class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open
+          class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open ?
-						? 'rotate-180'
+            'rotate-180'
-						: ''}"
+          : ''}" />
-				/>
       </button>
     </div>
     {#if open}
       <div
         class="flex flex-col gap-2 p-4 pt-0"
-				transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-			>
+        {@render children?.()}
-				<slot />
       </div>
     {/if}
   </div>
 {:else}
   <div
-		class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
+    class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg">
-	>
+    <div
-		<div class="min-h-16 w-full p-4 text-xl font-medium">
+      class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium">
       <span class="inline-flex items-baseline">
-				<slot name="icon" />
+        {@render icon?.()}
-				<slot name="title" />
+        {@render title?.()}
       </span>
+      {@render right?.()}
     </div>
     <div class="flex flex-col gap-2 p-4 pt-0">
-			<slot />
+      {@render children?.()}
     </div>
   </div>
 {/if}

app/src/lib/components/Spinner.svelte

@@ -1,5 +1,6 @@
 <script lang="ts">
-	import Loader from '~icons/tabler/loader-2';
+	import { Loader } from "./icons";
+
 </script>
 
 <div class="flex h-full w-full flex-col items-center justify-center p-6">

app/src/lib/components/StatusItem.svelte

@@ -0,0 +1,45 @@
+<script lang="ts">
+  type Variant = 'success' | 'error' | 'primary' | 'info' | 'warning'
+
+  const {
+    icon,
+    title,
+    description = '',
+    variant = 'primary',
+    class: klass = '',
+    children = null
+  } = $props<{
+    icon?: any
+    title: string
+    description?: string | number
+    variant?: Variant
+    class?: string
+    children?: () => any
+  }>()
+
+  const Icon = $derived(icon)
+
+  const variants: Record<Variant, [string, string]> = {
+    success: ['bg-success', 'text-success-content'],
+    error: ['bg-error', 'text-error-content'],
+    primary: ['bg-primary', 'text-primary-content'],
+    info: ['bg-info', 'text-info-content'],
+    warning: ['bg-warning', 'text-warning-content']
+  }
+
+  const variantKey: Variant = (variant as Variant) in variants ? (variant as Variant) : 'primary'
+  const [bgColor, textColor] = variants[variantKey]
+</script>
+
+<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2 {klass}">
+  {#if icon}
+    <div class="mask mask-hexagon {bgColor} h-auto w-10 flex-none">
+      <Icon class="{textColor} h-auto w-full scale-75" />
+    </div>
+  {/if}
+  <div class="grow">
+    <div class="font-bold">{title}</div>
+    <div class="text-sm opacity-75 grow">{description}</div>
+  </div>
+  {@render children?.()}
+</div>

app/src/lib/components/Stream.svelte

@@ -1,14 +1,10 @@
 <script lang="ts">
-	import { user } from '$lib/stores/user';
     import { onDestroy } from 'svelte';
+    import { location } from '$lib/stores';
 
-	const ws_token = `?access_token=${$user.bearer_token}`
+    let source = $state(`${$location}/api/camera/stream`);
 
-    let source = "/api/camera/stream"+ ws_token;
+    onDestroy(() => (source = '#'));
-
-	onDestroy(() => {
-		source = '#';
-	});
 </script>
 
 <div class="w-full h-full">

app/src/lib/components/Toast.svelte

@@ -2,35 +2,33 @@
 	import { flip } from 'svelte/animate';
 	import { fly } from 'svelte/transition';
 	import { notifications } from '$lib/components/toasts/notifications';
-	import error from '~icons/tabler/circle-x';
+	import { error, info, success, warning } from './icons';
-	import success from '~icons/tabler/circle-check';
-	import warning from '~icons/tabler/alert-triangle';
-	import info from '~icons/tabler/info-circle';
 
-	export let theme = {
+
+	/** @type {{theme?: any, icon?: any}} */
+	let { theme = {
 		error: 'alert-error',
 		success: 'alert-success',
 		warning: 'alert-warning',
 		info: 'alert-info'
-	};
+	}, icon = {
-
-	export let icon = {
 		error: error,
 		success: success,
 		warning: warning,
 		info: info
-	};
+	} } = $props();
 </script>
 
 <div class="toast toast-end mr-4">
 	{#each $notifications as notification (notification.id)}
+		{@const SvelteComponent = icon[notification.type]}
 		<div
 			animate:flip={{ duration: 400 }}
 			class="alert animate-none {theme[notification.type]}"
 			in:fly={{ y: 100, duration: 400 }}
 			out:fly={{ x: 100, duration: 400 }}
 		>
-			<svelte:component this={icon[notification.type]} class="h-6 w-6 flex-shrink-0" />
+			<SvelteComponent class="h-6 w-6 shrink-0" />
 			<span>{notification.message}</span>
 		</div>
 	{/each}

app/src/lib/components/UpdateIndicator.svelte

@@ -1,106 +0,0 @@
-<script lang="ts">
-	import { page } from '$app/stores';
-	import { openModal, closeAllModals } from 'svelte-modals';
-	import { user } from '$lib/stores/user';
-	import { notifications } from '$lib/components/toasts/notifications';
-	import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
-	import Firmware from '~icons/tabler/refresh-alert';
-	import Cancel from '~icons/tabler/x';
-	import CloudDown from '~icons/tabler/cloud-download';
-	import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte';
-	import { compareVersions } from 'compare-versions';
-	import { onMount } from 'svelte';
-	import { api } from '$lib/api';
-	import type { GithubRelease } from '$lib/models';
-
-	export let update = false;
-
-	let firmwareVersion: string;
-	let firmwareDownloadLink: string;
-
-	async function getGithubAPI() {
-        const headers = {
-            accept: 'application/vnd.github+json',
-            'X-GitHub-Api-Version': '2022-11-28'
-        }
-        const result = await api.get<GithubRelease>(`https://api.github.com/repos/${$page.data.github}/releases/latest`, {headers})
-        if (result.inner.message === "404" || result.inner.message == "Not Found") {
-            console.warn('Error: Could not find releases in the repository');
-            return
-        }
-        if (result.isErr()) {
-            console.error('Error:', result.inner);
-            return
-        }
-        
-        const results = result.inner;
-        update = false;
-        firmwareVersion = '';
-
-        if (compareVersions(results.tag_name, $page.data.features.firmware_version) === 1) {
-            // iterate over assets and find the correct one
-            for (let i = 0; i < results.assets.length; i++) {
-                // check if the asset is of type *.bin
-                if (
-                    results.assets[i].name.includes('.bin') &&
-                    results.assets[i].name.includes($page.data.features.firmware_built_target)
-                ) {
-                    update = true;
-                    firmwareVersion = results.tag_name;
-                    firmwareDownloadLink = results.assets[i].browser_download_url;
-                    notifications.info('Firmware update available.', 5000);
-                }
-            }
-        }
-	}
-
-	async function postGithubDownload(url: string) {
-        const result = await api.post('/api/downloadUpdate', { download_url: url });
-        if (result.isErr()){
-            console.error('Error:', result.inner);
-            return
-        }
-	}
-
-	onMount(async () => {
-		if ($page.data.features.download_firmware && (!$page.data.features.security || $user.admin)) {
-			await getGithubAPI();
-			const interval = setInterval(
-				async () => {
-					await getGithubAPI();
-				},
-				60 * 60 * 1000
-			); // once per hour
-		}
-	});
-
-	function confirmGithubUpdate(url: string) {
-		openModal(ConfirmDialog, {
-			title: 'Confirm flashing new firmware to the device',
-			message: 'Are you sure you want to overwrite the existing firmware with a new one?',
-			labels: {
-				cancel: { label: 'Abort', icon: Cancel },
-				confirm: { label: 'Update', icon: CloudDown }
-			},
-			onConfirm: () => {
-				postGithubDownload(url);
-				openModal(GithubUpdateDialog, {
-					onConfirm: () => closeAllModals()
-				});
-			}
-		});
-	}
-</script>
-
-{#if update}
-	<button
-		class="btn btn-square btn-ghost h-9 w-9"
-		on:click={() => confirmGithubUpdate(firmwareDownloadLink)}
-	>
-		<span
-			class="indicator-item indicator-top indicator-center badge badge-info badge-xs top-2 scale-75 lg:top-1"
-			>{firmwareVersion}</span
-		>
-		<Firmware class="h-7 w-7" />
-	</button>
-{/if}

app/src/lib/components/Visualization.svelte

@@ -1,47 +1,85 @@
 <script lang="ts">
-	import { onDestroy, onMount } from 'svelte';
+  import { onDestroy, onMount } from 'svelte'
-	import { BufferGeometry, Line, LineBasicMaterial, Mesh, MeshBasicMaterial, Object3D, SphereGeometry, Vector3, type NormalBufferAttributes, type Object3DEventMap } from 'three';
+  import {
-	import uzip from 'uzip';
+    BufferGeometry,
-	import { ModesEnum, kinematicData, mode, model, outControllerData, servoAnglesOut, servoAngles, mpu, jointNames } from '$lib/stores';
+    Line,
-	import { footColor, isEmbeddedApp, throttler, toeWorldPositions } from '$lib/utilities';
+    LineBasicMaterial,
-	import { fileService } from '$lib/services';
+    Mesh,
-	import SceneBuilder from '$lib/sceneBuilder';
+    MeshBasicMaterial,
-	import { lerp, degToRad } from 'three/src/math/MathUtils';
+    Object3D,
-    import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
+    SphereGeometry,
-	import Kinematic, { type body_state_t } from '$lib/kinematic';
+    Vector3,
-    import {EightPhaseWalkState, FourPhaseWalkState, IdleState, RestState, StandState} from '$lib/gait'
+    type NormalBufferAttributes,
-	import { radToDeg } from 'three/src/math/MathUtils.js';
+    type Object3DEventMap
-	import type { URDFRobot } from 'urdf-loader';
+  } from 'three'
-	import { get } from 'svelte/store';
+  import {
+    ModesEnum,
+    kinematicData,
+    mode,
+    model,
+    outControllerData,
+    servoAnglesOut,
+    servoAngles,
+    mpu,
+    jointNames
+  } from '$lib/stores'
+  import {
+    extractFootColor,
+    populateModelCache,
+    throttler,
+    getToeWorldPositions
+  } from '$lib/utilities'
+  import SceneBuilder from '$lib/sceneBuilder'
+  import { lerp, degToRad } from 'three/src/math/MathUtils'
+  import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
+  import Kinematic, { type body_state_t } from '$lib/kinematic'
+  import {
+    BezierState,
+    CalibrationState,
+    EightPhaseWalkState,
+    FourPhaseWalkState,
+    IdleState,
+    RestState,
+    StandState
+  } from '$lib/gait'
+  import { radToDeg } from 'three/src/math/MathUtils.js'
+  import type { URDFRobot } from 'urdf-loader'
+  import { get } from 'svelte/store'
 
-    export let sky = true
+  interface Props {
-    export let orbit = false
+    sky?: boolean
-    export let panel = true
+    orbit?: boolean
-    export let debug = false
+    panel?: boolean
-    export let ground = true
+    debug?: boolean
+    ground?: boolean
+  }
 
-	let sceneManager = new SceneBuilder();
+  let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props()
-	let canvas: HTMLCanvasElement
 
-	let currentModelAngles: number[] = new Array(12).fill(0);
+  let sceneManager = $state(new SceneBuilder())
+  let canvas: HTMLCanvasElement = $state()
+
+  let currentModelAngles: number[] = new Array(12).fill(0)
   let modelTargetAngles: number[] = new Array(12).fill(0)
   let gui_panel: GUI
   let Throttler = new throttler()
 
-    let feet_trace = new Array(4).fill([]);
+  let feet_trace = new Array(4).fill([])
   let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
-    let target: Object3D<Object3DEventMap>;
+  let target: Object3D<Object3DEventMap>
 
   let target_position = { x: 0, z: 0, yaw: 0 }
 
   let kinematic = new Kinematic()
 
   let planners = {
+    [ModesEnum.Deactivated]: new IdleState(),
     [ModesEnum.Idle]: new IdleState(),
+    [ModesEnum.Calibration]: new CalibrationState(),
     [ModesEnum.Rest]: new RestState(),
     [ModesEnum.Stand]: new StandState(),
     [ModesEnum.Crawl]: new EightPhaseWalkState(),
-        [ModesEnum.Walk]: new FourPhaseWalkState()
+    [ModesEnum.Walk]: new BezierState()
   }
   let lastTick = performance.now()
 
@@ -54,65 +92,67 @@
     xm: 0,
     ym: 0.5,
     zm: 0,
-        feet: planners[ModesEnum.Idle].default_feet_pos
+    feet: kinematic.getDefaultFeetPos()
   }
 
   let settings = {
-        'Internal kinematic':false,
+    'Internal kinematic': true,
     'Robot transform controls': false,
     'Auto orient robot': true,
     'Trace feet': debug,
+    'Target position': false,
     'Trace points': 30,
     'Fix camera on robot': true,
     'Smooth motion': true,
-        'omega': 0,
+    omega: 0,
-        'phi': 0,
+    phi: 0,
-        'psi': 0,
+    psi: 0,
-        'xm': 0,
+    xm: 0,
-        'ym': 0.7,
+    ym: 0.7,
-        'zm': 0,
+    zm: 0,
-        'Background': "black"
+    Background: 'black'
   }
 
   onMount(async () => {
-        await cacheModelFiles()
+    await populateModelCache()
-        await createScene();
+    await createScene()
-        if (!isEmbeddedApp && panel) createPanel();
     servoAngles.subscribe(updateAnglesFromStore)
-	});
+    if (panel) createPanel()
+  })
 
   onDestroy(() => {
     canvas.remove()
     gui_panel?.destroy()
-    });
+  })
 
   const updateAnglesFromStore = (angles: number[]) => {
     if (sceneManager.isDragging) return
     if (settings['Internal kinematic']) return
-        modelTargetAngles = angles;
+    modelTargetAngles = angles
   }
 
   const createPanel = () => {
-        gui_panel = new GUI({width: 310});
+    gui_panel = new GUI({ width: 310 })
-        gui_panel.close();
+    gui_panel.close()
-        gui_panel.domElement.id = 'three-gui-panel';
+    gui_panel.domElement.id = 'three-gui-panel'
 
-        const general = gui_panel.addFolder('General');
+    const general = gui_panel.addFolder('General')
     general.add(settings, 'Internal kinematic')
     general.add(settings, 'Robot transform controls')
     general.add(settings, 'Auto orient robot')
 
-        const kinematic = gui_panel.addFolder('Kinematics');
+    const kinematic = gui_panel.addFolder('Kinematics')
-        kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen();
+    kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen();
+    kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen();
+    kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen()
     kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
     kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
     kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
 
-        const visibility = gui_panel.addFolder('Visualization');
+    const visibility = gui_panel.addFolder('Visualization')
     visibility.add(settings, 'Trace feet')
     visibility.add(settings, 'Trace points', 1, 1000, 1)
+    visibility.add(settings, 'Target position')
     visibility.add(settings, 'Smooth motion')
     visibility.addColor(settings, 'Background')
   }
@@ -128,59 +168,45 @@
     ])
   }
 
-	const cacheModelFiles = async () => {
-		let data = await fetch('/stl.zip').then((data) => data.arrayBuffer());
-
-		var files = uzip.parse(data);
-
-		for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
-			const url = new URL(path, window.location.href);
-			fileService.saveFile(url.toString(), data);
-		}
-	};
-
   const updateAngles = (name: string, angle: number) => {
-		modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
+    modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
     Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
-	};
+  }
 
   const createScene = async () => {
     sceneManager
       .addRenderer({ antialias: true, canvas, alpha: true })
       .addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
       .addOrbitControls(8, 30, orbit)
-            .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 0.9 })
+      .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 3 })
-			.addAmbientLight({ color: 0xffffff, intensity: 0.6 })
+      .addAmbientLight({ color: 0xffffff, intensity: 0.5 })
       .addFogExp2(0xcccccc, 0.015)
       .addModel($model)
       .addTransformControls(sceneManager.model)
       .fillParent()
       .addRenderCb(render)
-			.startRenderLoop();
+      .startRenderLoop()
 
-        if (ground) sceneManager
+    if (ground) sceneManager.addGroundPlane()
-			.addGroundPlane()
-            .addGridHelper({ size: 30, divisions: 25 })
 
-        
+    const geometry = new SphereGeometry(0.1, 32, 16)
-        const geometry = new SphereGeometry(0.1, 32, 16 ); 
+    const material = new MeshBasicMaterial({ color: 0xffff00 })
-        const material = new MeshBasicMaterial( { color: 0xffff00 } ); 
+    target = new Mesh(geometry, material)
-        target = new Mesh(geometry, material); 
+    sceneManager.scene.add(target)
 
     if (debug) {
-            sceneManager.scene.add(target);
       sceneManager.addDragControl(updateAngles)
     }
     if (sky) sceneManager.addSky()
 
     for (let i = 0; i < 4; i++) {
-			const geometry = new BufferGeometry();
+      const geometry = new BufferGeometry()
-			const material = new LineBasicMaterial({ color: footColor() });
+      const material = new LineBasicMaterial({ color: extractFootColor() })
-			const line = new Line(geometry, material);
+      const line = new Line(geometry, material)
-			trace_lines.push(geometry);
+      trace_lines.push(geometry)
-			sceneManager.scene.add(line);
+      sceneManager.scene.add(line)
+    }
   }
-	};
 
   const renderTraceLines = (foot_positions: Vector3[]) => {
     if (!settings['Trace feet']) {
@@ -193,7 +219,7 @@
     trace_lines.forEach((line, i) => {
       feet_trace[i].push(foot_positions[i])
       feet_trace[i] = feet_trace[i].slice(-settings['Trace points'])
-            line.setFromPoints(feet_trace[i]);
+      line.setFromPoints(feet_trace[i])
     })
   }
 
@@ -209,20 +235,20 @@
       feet: body_state.feet
     }
 
-        let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]));
+    let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]))
-        modelTargetAngles = new_angles;
+    modelTargetAngles = new_angles
   }
 
   const orient_robot = (robot: URDFRobot, toes: Vector3[]) => {
     if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
-        robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
+    robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
 
-        robot.position.z = smooth(robot.position.z, -settings.xm, 0.1);
+    robot.position.z = smooth(robot.position.z, -settings.xm, 0.1)
-        robot.position.x = smooth(robot.position.x, -settings.zm, 0.1);
+    robot.position.x = smooth(robot.position.x, -settings.zm, 0.1)
 
-        robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1);
+    robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1)
-        robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1);
+    robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1)
-        robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1);
+    robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1)
   }
 
   const update_camera = (robot: URDFRobot) => {
@@ -245,14 +271,15 @@
       ry: controlData[4],
       h: controlData[5],
       s: controlData[6],
-        };
+      s1: controlData[7]
-        body_state.ym = ((data.h + 127) * 0.75) / 100;
+    }
+    body_state.ym = ((data.h + 127) * 0.35) / 100
 
     let planner = planners[get(mode)]
     const delta = performance.now() - lastTick
     lastTick = performance.now()
 
-        body_state = planner.step(body_state, data, delta);
+    body_state = planner.step(body_state, data, delta)
 
     settings.omega = body_state.omega
     settings.phi = body_state.phi
@@ -272,15 +299,16 @@
   }
 
   const updateTargetPosition = () => {
+    target.visible = settings['Target position']
     target.position.x = smooth(target.position.x, target_position.x, 0.5)
     target.position.z = smooth(target.position.z, target_position.z, 0.5)
   }
 
   const render = () => {
-		const robot = sceneManager.model;
+    const robot = sceneManager.model
-		if (!robot) return;
+    if (!robot) return
 
-        const toes = toeWorldPositions(robot)
+    const toes = getToeWorldPositions(robot)
 
     renderTraceLines(toes)
     update_camera(robot)
@@ -293,16 +321,19 @@
     sceneManager.transformControl.showZ = settings['Robot transform controls']
 
     for (let i = 0; i < $jointNames.length; i++) {
-            currentModelAngles[i] = smooth((robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI), modelTargetAngles[i], 0.1);
+      currentModelAngles[i] = smooth(
-            robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]));
+        (robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
+        modelTargetAngles[i],
+        0.1
+      )
+      robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
     }
 
     orient_robot(robot, toes)
-        updateTargetPosition();
+    updateTargetPosition()
-	};
+  }
-
 </script>
 
-<svelte:window on:resize={sceneManager.fillParent} />
+<svelte:window onresize={sceneManager.fillParent} />
 
 <canvas bind:this={canvas}></canvas>

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

@@ -0,0 +1,96 @@
+export { default as Connection } from '~icons/mdi/connection'
+export { default as Users } from '~icons/mdi/users'
+export { default as Settings } from '~icons/mdi/settings'
+export { default as MdiController } from '~icons/mdi/controller'
+export { default as Devices } from '~icons/mdi/devices'
+export { default as Camera } from '~icons/mdi/camera-outline'
+export { default as Rotate3d } from '~icons/mdi/rotate-3d'
+export { default as MotorOutline } from '~icons/mdi/motor-outline'
+export { default as Health } from '~icons/mdi/stethoscope'
+export { default as Folder } from '~icons/mdi/folder-outline'
+export { default as Update } from '~icons/mdi/reload'
+export { default as Router } from '~icons/mdi/router'
+export { default as AP } from '~icons/mdi/access-point'
+export { default as Remote } from '~icons/mdi/network'
+export { default as Copyright } from '~icons/mdi/copyright'
+export { default as NTP } from '~icons/mdi/clock-check'
+export { default as Metrics } from '~icons/mdi/report-bar'
+export { default as MdiEyeOutline } from '~icons/mdi/eye-outline'
+export { default as MdiEyeOffOutline } from '~icons/mdi/eye-off-outline'
+export { default as Github } from '~icons/mdi/github'
+export { default as Avatar } from '~icons/mdi/user-circle'
+export { default as Logout } from '~icons/mdi/logout'
+export { default as Record } from '~icons/mdi/radio-button-unchecked'
+export { default as MdiFullscreen } from '~icons/mdi/fullscreen'
+export { default as MdiFullscreenExit } from '~icons/mdi/fullscreen-exit'
+export { default as WiFi } from '~icons/tabler/wifi'
+export { default as WiFi0 } from '~icons/tabler/wifi-0'
+export { default as WiFi1 } from '~icons/tabler/wifi-1'
+export { default as WiFi2 } from '~icons/tabler/wifi-2'
+export { default as WifiOff } from '~icons/tabler/wifi-off'
+export { default as MdiWeatherSunny } from '~icons/mdi/weather-sunny'
+export { default as MdiMoonAndStars } from '~icons/mdi/moon-and-stars'
+export { default as Hamburger } from '~icons/mdi/hamburger-menu'
+
+export { default as FileIcon } from '~icons/mdi/file'
+export { default as FolderIcon } from '~icons/mdi/folder-outline'
+export { default as FolderOpenOutline } from '~icons/mdi/folder-open-outline'
+export { default as TrashIcon } from '~icons/mdi/trash'
+export { default as RotateCcw } from '~icons/mdi/rotate-left'
+export { default as RotateCw } from '~icons/mdi/rotate-right'
+
+export { default as Down } from '~icons/tabler/chevron-down'
+export { default as Cancel } from '~icons/tabler/x'
+export { default as Check } from '~icons/tabler/check'
+export { default as Login } from '~icons/tabler/login'
+export { default as Loader } from '~icons/tabler/loader-2'
+export { default as error } from '~icons/tabler/circle-x'
+export { default as success } from '~icons/tabler/circle-check'
+export { default as warning } from '~icons/tabler/alert-triangle'
+export { default as info } from '~icons/tabler/info-circle'
+export { default as Power } from '~icons/tabler/power'
+
+export { default as MAC } from '~icons/tabler/dna-2'
+export { default as Home } from '~icons/tabler/home'
+export { default as SSID } from '~icons/tabler/router'
+export { default as DNS } from '~icons/mdi/dns'
+export { default as Gateway } from '~icons/tabler/torii'
+export { default as Subnet } from '~icons/tabler/grid-dots'
+export { default as Channel } from '~icons/tabler/antenna'
+export { default as Scan } from '~icons/tabler/radar-2'
+export { default as Add } from '~icons/tabler/circle-plus'
+export { default as Edit } from '~icons/mdi/edit'
+export { default as EditOff } from '~icons/mdi/edit-off'
+export { default as Delete } from '~icons/tabler/trash'
+
+export { default as Network } from '~icons/tabler/router'
+export { default as Reload } from '~icons/tabler/reload'
+
+export { default as Firmware } from '~icons/tabler/refresh-alert'
+export { default as CloudDown } from '~icons/tabler/cloud-download'
+export { default as Server } from '~icons/tabler/server'
+export { default as Clock } from '~icons/tabler/clock'
+export { default as UTC } from '~icons/tabler/clock-pin'
+export { default as Stopwatch } from '~icons/tabler/24-hours'
+
+export { default as CPU } from '~icons/tabler/cpu'
+export { default as CPP } from '~icons/tabler/binary'
+export { default as Sleep } from '~icons/tabler/zzz'
+export { default as FactoryReset } from '~icons/tabler/refresh-dot'
+export { default as Speed } from '~icons/tabler/activity'
+export { default as Flash } from '~icons/tabler/device-sd-card'
+export { default as Pyramid } from '~icons/tabler/pyramid'
+export { default as Sketch } from '~icons/tabler/chart-pie'
+export { default as Heap } from '~icons/tabler/box-model'
+export { default as Temperature } from '~icons/tabler/temperature'
+export { default as SDK } from '~icons/tabler/sdk'
+
+export { default as Prerelease } from '~icons/tabler/test-pipe'
+export { default as Error } from '~icons/tabler/circle-x'
+
+export { default as OTA } from '~icons/tabler/file-upload'
+export { default as Warning } from '~icons/tabler/alert-triangle'
+
+export { default as AddUser } from '~icons/tabler/user-plus'
+export { default as Admin } from '~icons/tabler/key'
+export { default as Save } from '~icons/tabler/device-floppy'

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

@@ -0,0 +1,26 @@
+<script lang="ts">
+	import { MdiEyeOffOutline, MdiEyeOutline } from "../icons";
+
+    interface Props {
+        show?: boolean;
+        value?: string;
+        id?: string;
+    }
+
+    let { show = $bindable(false), value = $bindable(''), id = '' }: Props = $props();
+    
+	let type = $derived(show ? 'text' : 'password');
+
+	const handleInput = (e: any) => value = e.target.value
+
+    const togglePassword = () => show = !show
+</script>
+
+<label class="input input-bordered flex items-center gap-2">
+    <input {type} class="grow" {value} oninput={handleInput} {id} />
+    <!-- svelte-ignore a11y_click_events_have_key_events -->
+    <div onclick={togglePassword} role="button" tabindex="0">
+        <MdiEyeOffOutline class="text-base-content/50 h-6 {show ? 'block' : 'hidden'}" />
+        <MdiEyeOutline class="text-base-content/50 h-6 {show ? 'hidden' : 'block'}" />
+    </div>
+</label>

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

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

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

@@ -0,0 +1,2 @@
+export { default as PasswordInput } from './InputPassword.svelte';
+export { default as VerticalSlider } from './VerticalSlider.svelte';

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

@@ -0,0 +1,11 @@
+<script lang="ts">
+    interface Props {
+        children?: import('svelte').Snippet;
+    }
+
+    let { children }: Props = $props();
+</script>
+
+<div class="box-border overflow-hidden flex-1">
+    {@render children?.()}
+</div>

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

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

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

@@ -0,0 +1,15 @@
+<script lang="ts">
+	import { Github } from "../icons";
+
+	interface Props {
+		github: any;
+	}
+
+	let { github }: Props = $props();
+</script>
+
+{#if github.active}
+	<a href={github.href} class="btn btn-ghost" target="_blank" rel="noopener noreferrer">
+        <Github class="h-5 w-5" />
+    </a>
+{/if}

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

@@ -0,0 +1,14 @@
+<script>
+	import logo from '$lib/assets/logo512.png';
+
+	/** @type {{appName: any}} */
+	let { appName } = $props();
+</script>
+
+<a
+	href="/"
+	class="rounded-box mb-4 flex items-center hover:scale-[1.02] active:scale-[0.98]"
+>
+	<img src={logo} alt="Logo" class="h-12 w-12" />
+	<h1 class="px-4 text-2xl font-bold">{appName}</h1>
+</a>

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

@@ -0,0 +1,189 @@
+<script lang="ts">
+  import { page } from '$app/state'
+  import { useFeatureFlags } from '$lib/stores/featureFlags'
+  import GithubButton from '../menu/GithubButton.svelte'
+  import LogoButton from '../menu/LogoButton.svelte'
+  import MenuList from '../menu/MenuList.svelte'
+  import {
+    Connection,
+    Settings,
+    MdiController,
+    Devices,
+    Camera,
+    Rotate3d,
+    MotorOutline,
+    Health,
+    Folder,
+    Update,
+    WiFi,
+    Router,
+    AP,
+    Copyright,
+    Metrics,
+    DNS
+  } from '$lib/components/icons'
+  import appEnv from 'app-env'
+
+  const features = useFeatureFlags()
+
+  const appName = page.data.app_name
+
+  const copyright = page.data.copyright
+
+  const github = { href: 'https://github.com/' + page.data.github, active: true }
+
+  type menuItem = {
+    title: string
+    icon: ConstructorOfATypedSvelteComponent
+    href?: string
+    feature: boolean
+    active?: boolean
+    submenu?: menuItem[]
+  }
+
+  let menuItems = $state<menuItem[]>([])
+
+  $effect(() => {
+    menuItems = [
+      {
+        title: 'Connection',
+        icon: WiFi,
+        href: '/connection',
+        feature: !appEnv.VITE_USE_HOST_NAME
+      },
+      {
+        title: 'Controller',
+        icon: MdiController,
+        href: '/controller',
+        feature: true
+      },
+      {
+        title: 'Peripherals',
+        icon: Devices,
+        feature: true,
+        submenu: [
+          {
+            title: 'I2C',
+            icon: Connection,
+            href: '/peripherals/i2c',
+            feature: true
+          },
+          {
+            title: 'Camera',
+            icon: Camera,
+            href: '/peripherals/camera',
+            feature: $features.camera
+          },
+          {
+            title: 'Servo',
+            icon: MotorOutline,
+            href: '/peripherals/servo',
+            feature: true
+          },
+          {
+            title: 'IMU',
+            icon: Rotate3d,
+            href: '/peripherals/imu',
+            feature: $features.imu || $features.mag || $features.bmp
+          }
+        ]
+      },
+      {
+        title: 'WiFi',
+        icon: WiFi,
+        feature: true,
+        submenu: [
+          {
+            title: 'WiFi Station',
+            icon: Router,
+            href: '/wifi/sta',
+            feature: true
+          },
+          {
+            title: 'Access Point',
+            icon: AP,
+            href: '/wifi/ap',
+            feature: true
+          },
+          {
+            title: 'mDNS',
+            icon: DNS,
+            href: '/wifi/mdns',
+            feature: true
+          }
+        ]
+      },
+      {
+        title: 'System',
+        icon: Settings,
+        feature: true,
+        submenu: [
+          {
+            title: 'System Status',
+            icon: Health,
+            href: '/system/status',
+            feature: true
+          },
+          {
+            title: 'File System',
+            icon: Folder,
+            href: '/system/filesystem',
+            feature: true
+          },
+          {
+            title: 'System Metrics',
+            icon: Metrics,
+            href: '/system/metrics',
+            feature: true
+          },
+          {
+            title: 'Firmware Update',
+            icon: Update,
+            href: '/system/update',
+            feature: $features.ota || $features.upload_firmware || $features.download_firmware
+          }
+        ]
+      }
+    ] as menuItem[]
+  })
+
+  const { menuClicked } = $props()
+
+  function setActiveMenuItem(targetTitle: string) {
+    menuItems.forEach(item => {
+      item.active = item.title === targetTitle
+      item.submenu?.forEach(subItem => {
+        subItem.active = subItem.title === targetTitle
+      })
+    })
+    menuItems = menuItems
+    menuClicked()
+  }
+
+  $effect(() => {
+    setActiveMenuItem(page.data.title)
+  })
+
+  const updateMenu = (event: any) => {
+    setActiveMenuItem(event.details)
+  }
+</script>
+
+<div class="flex h-full w-80 flex-col p-4 bg-base-200 text-base-content">
+  <LogoButton {appName} />
+
+  <MenuList
+    {menuItems}
+    select={updateMenu}
+    class="grow flex-nowrap overflow-y-auto overflow-x-hidden"
+    level="0" />
+
+  <div class="divider my-0"></div>
+
+  <div class="flex items-center justify-between">
+    <GithubButton {github} />
+    <div class="flex items-center justify-end text-sm gap-2">
+      <Copyright class="h-4 w-4" />{copyright}
+    </div>
+  </div>
+</div>

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

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

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

@@ -0,0 +1,10 @@
+<script lang="ts">
+    import { isFullscreen, toggleFullscreen } from '$lib/stores';
+	import { MdiFullscreenExit, MdiFullscreen } from '../icons';
+
+    const SvelteComponent = $derived($isFullscreen ? MdiFullscreenExit : MdiFullscreen);
+</script>
+
+<button onclick={toggleFullscreen}>
+    <SvelteComponent class="h-7 w-7" />
+</button>

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

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

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

@@ -0,0 +1,34 @@
+<script lang="ts">
+    import { useFeatureFlags } from '$lib/stores';
+    import { modals } from 'svelte-modals';
+    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
+    import { api } from '$lib/api';
+    import { Cancel, Power } from '../icons';
+
+    const features = useFeatureFlags();
+
+    const postSleep = async () => await api.post('/api/system/sleep');
+
+    const confirmSleep = () => {
+        modals.open(ConfirmDialog, {
+            title: 'Confirm Power Down',
+            message: 'Are you sure you want to switch off the device?',
+            labels: {
+                cancel: { label: 'Abort', icon: Cancel },
+                confirm: { label: 'Switch Off', icon: Power }
+            },
+            onConfirm: () => {
+                modals.close();
+                postSleep();
+            }
+        });
+    };
+</script>
+
+{#if $features.sleep}
+    <div class="flex-none">
+        <button class="btn btn-square btn-ghost h-9 w-10" onclick={confirmSleep}>
+            <Power class="text-error h-9 w-9" />
+        </button>
+    </div>
+{/if}

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

@@ -0,0 +1,10 @@
+<script lang="ts">
+	import { mode, modes } from "$lib/stores";
+
+    const deactivate = async () => {
+		mode.set(modes.indexOf('deactivated'));
+	};
+</script>
+
+
+<button onclick={deactivate} class="bg-error text-white btn rounded-none">STOP</button>

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

@@ -0,0 +1,9 @@
+<script lang="ts">
+	import { MdiWeatherSunny, MdiMoonAndStars } from "../icons";
+</script>
+
+<label class="swap swap-rotate">
+    <input type="checkbox" value="light" class="theme-controller" />
+    <MdiWeatherSunny class="swap-off h-7 w-7" />
+    <MdiMoonAndStars class="swap-on h-7 w-7" />
+</label>

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

@@ -1,11 +1,11 @@
 <script lang="ts">
-    import MdiHamburgerMenu from '~icons/mdi/hamburger-menu';
+    import {Hamburger} from '../icons'
 </script>
 
 <div class="topbar absolute left-0 top-0 w-full z-20 flex justify-between bg-zinc-800">
 	<div class="flex gap-2 p-2">
         <a href="/">
-            <svelte:component this={MdiHamburgerMenu} class="h-8 w-8"/>
+            <Hamburger class="h-8 w-8"/>
         </a>
     </div>
 </div>

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

@@ -0,0 +1,111 @@
+<script lang="ts">
+    import { page } from '$app/state';
+    import { modals } from 'svelte-modals';
+    import { notifications } from '$lib/components/toasts/notifications';
+    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
+    import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte';
+    import { compareVersions } from 'compare-versions';
+    import { onMount } from 'svelte';
+    import { api } from '$lib/api';
+    import type { GithubRelease } from '$lib/types/models';
+    import { useFeatureFlags } from '$lib/stores/featureFlags';
+    import { Cancel, CloudDown, Firmware } from '../icons';
+
+    const features = useFeatureFlags();
+
+    interface Props {
+        update?: boolean;
+    }
+
+    let { update = $bindable(false) }: Props = $props();
+
+    let firmwareVersion: string = $state('');
+    let firmwareDownloadLink: string = $state('');
+
+    async function getGithubAPI() {
+        const headers = {
+            accept: 'application/vnd.github+json',
+            'X-GitHub-Api-Version': '2022-11-28'
+        };
+        const result = await api.get<GithubRelease>(
+            `https://api.github.com/repos/${page.data.github}/releases/latest`,
+            { headers }
+        );
+        if (result.inner.message === '404' || result.inner.message == 'Not Found') {
+            console.warn('Error: Could not find releases in the repository');
+            return;
+        }
+        if (result.isErr()) {
+            console.error('Error:', result.inner);
+            return;
+        }
+
+        const results = result.inner;
+        update = false;
+        firmwareVersion = '';
+
+        if (compareVersions(results.tag_name, $features.firmware_version) === 1) {
+            // iterate over assets and find the correct one
+            for (let i = 0; i < results.assets.length; i++) {
+                // check if the asset is of type *.bin
+                if (
+                    results.assets[i].name.includes('.bin') &&
+                    results.assets[i].name.includes($features.firmware_built_target)
+                ) {
+                    update = true;
+                    firmwareVersion = results.tag_name;
+                    firmwareDownloadLink = results.assets[i].browser_download_url;
+                    notifications.info('Firmware update available.', 5000);
+                }
+            }
+        }
+    }
+
+    async function postGithubDownload(url: string) {
+        const result = await api.post('/api/downloadUpdate', { download_url: url });
+        if (result.isErr()) {
+            console.error('Error:', result.inner);
+            return;
+        }
+    }
+
+    onMount(async () => {
+        if ($features.download_firmware) {
+            await getGithubAPI();
+            setInterval(async () => await getGithubAPI(), 60 * 60 * 1000); // once per hour
+        }
+    });
+
+    function confirmGithubUpdate(url: string) {
+        modals.open(ConfirmDialog, {
+            title: 'Confirm flashing new firmware to the device',
+            message: 'Are you sure you want to overwrite the existing firmware with a new one?',
+            labels: {
+                cancel: { label: 'Abort', icon: Cancel },
+                confirm: { label: 'Update', icon: CloudDown }
+            },
+            onConfirm: () => {
+                postGithubDownload(url);
+                modals.open(GithubUpdateDialog, {
+                    onConfirm: () => modals.closeAll()
+                });
+            }
+        });
+    }
+</script>
+
+{#if update}
+    <div class="indicator flex-none">
+        <button
+            class="btn btn-square btn-ghost h-9 w-9"
+            onclick={() => confirmGithubUpdate(firmwareDownloadLink)}
+        >
+            <span
+                class="indicator-item indicator-top indicator-center badge badge-info badge-xs top-2 scale-75 lg:top-1"
+            >
+                {firmwareVersion}
+            </span>
+            <Firmware class="h-7 w-7" />
+        </button>
+    </div>
+{/if}

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

@@ -0,0 +1,6 @@
+<script lang="ts">
+	import { selectedView, views } from "$lib/stores/application";
+	import Selector from "../widget/Selector.svelte";
+</script>
+
+<Selector bind:selectedOption={$selectedView} options={$views.map((v) => v.name)} />

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

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

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

@@ -2,35 +2,33 @@
 	import { flip } from 'svelte/animate';
 	import { fly } from 'svelte/transition';
 	import { notifications } from '$lib/components/toasts/notifications';
-	import error from '~icons/tabler/circle-x';
+	import { error, info, success, warning } from '../icons';
-	import success from '~icons/tabler/circle-check';
-	import warning from '~icons/tabler/alert-triangle';
-	import info from '~icons/tabler/info-circle';
 
-	export let theme = {
+
+	/** @type {{theme?: any, icon?: any}} */
+	let { theme = {
 		error: 'alert-error',
 		success: 'alert-success',
 		warning: 'alert-warning',
 		info: 'alert-info'
-	};
+	}, icon = {
-
-	export let icon = {
 		error: error,
 		success: success,
 		warning: warning,
 		info: info
-	};
+	} } = $props();
 </script>
 
 <div class="toast toast-end mr-4 z-20">
 	{#each $notifications as notification (notification.id)}
+		{@const SvelteComponent = icon[notification.type]}
 		<div
 			animate:flip={{ duration: 400 }}
 			class="alert animate-none {theme[notification.type]}"
 			in:fly={{ y: 100, duration: 400 }}
 			out:fly={{ x: 100, duration: 400 }}
 		>
-			<svelte:component this={icon[notification.type]} class="h-6 w-6 flex-shrink-0" />
+			<SvelteComponent class="h-6 w-6 shrink-0" />
 			<span>{notification.message}</span>
 		</div>
 	{/each}

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

@@ -0,0 +1,103 @@
+<script lang="ts">
+	import { daisyColor } from "$lib/utilities";
+	import { Chart, registerables } from "chart.js";
+	import { onMount } from "svelte";
+	import { cubicOut } from "svelte/easing";
+	import { slide } from "svelte/transition";
+
+    let chartElement: HTMLCanvasElement = $state();
+	let chart: Chart;
+
+	interface Props {
+		label: any;
+		data: number[];
+		title: any;
+	}
+
+	let { label, data, title }: Props = $props();
+
+    Chart.register(...registerables);
+
+    onMount(() => {
+        chart = new Chart(chartElement, {
+			type: 'line',
+			data: {
+				labels: data,
+				datasets: [
+					{
+						label,
+						borderColor: daisyColor('--p'),
+						backgroundColor: daisyColor('--p', 50),
+						borderWidth: 2,
+                        data,
+						yAxisID: 'y'
+					},
+				]
+			},
+			options: {
+				maintainAspectRatio: false,
+				responsive: true,
+				plugins: {
+					legend: {
+						display: true
+					},
+					tooltip: {
+						mode: 'index',
+						intersect: false
+					}
+				},
+				elements: {
+					point: {
+						radius: 0
+					}
+				},
+				scales: {
+					x: {
+						grid: {
+							color: daisyColor('--bc', 10)
+						},
+						ticks: {
+							color: daisyColor('--bc')
+						},
+						display: false
+					},
+					y: {
+						type: 'linear',
+						title: {
+							display: true,
+							text: title,
+							color: daisyColor('--bc'),
+							font: {
+								size: 16,
+								weight: 'bold'
+							}
+						},
+						position: 'left',
+						min: 0,
+						max: 100,
+						grid: { color: daisyColor('--bc', 10) },
+						ticks: {
+							color: daisyColor('--bc')
+						},
+						border: { color: daisyColor('--bc', 10) }
+					}
+				}
+			}
+		});
+
+        setInterval(() => {
+            chart.data.labels = data
+            chart.data.datasets[0].data = data
+        }, 500);
+    })
+</script>
+
+
+<div class="w-full h-full overflow-x-auto">
+    <div
+        class="flex w-full flex-col space-y-1 h-60"
+        transition:slide|local={{ duration: 300, easing: cubicOut }}
+    >
+        <canvas bind:this={chartElement}></canvas>
+    </div>
+</div>

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

@@ -0,0 +1,20 @@
+<script lang="ts">
+    interface Props {
+        options?: string[];
+        selectedOption?: string;
+        change: () => void;
+        [key: string]: any;
+    }
+
+    let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props();
+</script>
+
+<select
+    bind:value={selectedOption}
+    {...rest}
+    class="select select-bordered select-sm lg:select-md max-w-xs {rest.class || ''}"
+>
+    {#each options as option}
+        <option value={option}>{option}</option>
+    {/each}
+</select>

app/src/lib/gait.ts

@@ -1,153 +1,173 @@
-import type { body_state_t } from './kinematic';
+import type { body_state_t } from './kinematic'
-import { fromInt8 } from './utilities';
+import Kinematic from './kinematic'
+import { fromInt8 } from './utilities'
 
-const { sin } = Math;
+const { sin } = Math
 
 export interface gait_state_t {
-	step_height: number;
+  step_height: number
-	step_x: number;
+  step_x: number
-	step_z: number;
+  step_z: number
-	step_angle: number;
+  step_angle: number
-	step_velocity: number;
+  step_velocity: number
-	step_depth: number;
+  step_depth: number
 }
 
 export interface ControllerCommand {
-	stop: number;
+  stop: number
-	lx: number;
+  lx: number
-	ly: number;
+  ly: number
-	rx: number;
+  rx: number
-	ry: number;
+  ry: number
-	h: number;
+  h: number
-	s: number;
+  s: number
+  s1: number
 }
 
 export abstract class GaitState {
-	protected abstract name: string;
+  protected abstract name: string
 
-	protected static body_state: body_state_t;
+  protected dt = 0.02
+  protected body_state!: body_state_t
+  protected gait_state: gait_state_t = {
+    step_height: 0.4,
+    step_x: 0,
+    step_z: 0,
+    step_angle: 0,
+    step_velocity: 1,
+    step_depth: 0.002
+  }
 
   public get default_feet_pos() {
-		return [
+    return new Kinematic().getDefaultFeetPos()
-			[1, -1, 1, 1],
-			[1, -1, -1, 1],
-			[-1, -1, 1, 1],
-			[-1, -1, -1, 1]
-		];
   }
 
   protected get default_height() {
-		return 0.5;
+    return 0.5
   }
 
   begin() {
-		console.log('Starting', this.name);
+    console.log('Starting', this.name)
   }
   end() {
-		console.log('Ending', this.name);
+    console.log('Ending', this.name)
   }
   step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return body_state;
+    this.map_command(command)
+    this.body_state = body_state
+    this.dt = dt / 1000
+    return body_state
   }
 
-	map_command(command: ControllerCommand): gait_state_t {
+  map_command(command: ControllerCommand) {
-		return {
+    const newCommand = {
-			step_height: 0.4 + Math.abs(command.ry / 128),
+      step_height: 0.4 + (command.s1 / 128 + 1) / 2,
-			step_x: (Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10) * 3,
+      step_x: Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10,
-			step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
+      step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10),
       step_velocity: command.s / 128 + 1,
-			step_angle: 0,
+      step_angle: command.rx / 128,
-			step_depth: 0.2
+      step_depth: 0.002
-		};
+    }
+
+    this.gait_state = newCommand
   }
 }
 
 export class IdleState extends GaitState {
-	protected name = 'Idle';
+  protected name = 'Idle'
+}
+
+export class CalibrationState extends GaitState {
+  protected name = 'Calibration'
+
+  step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+    body_state.omega = 0
+    body_state.phi = 0
+    body_state.psi = 0
+    body_state.xm = 0
+    body_state.ym = this.default_height * 10
+    body_state.zm = 0
+    body_state.feet = this.default_feet_pos
+    return body_state
+  }
 }
 
 export class RestState extends GaitState {
-	protected name = 'Rest';
+  protected name = 'Rest'
 
   step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		body_state.omega = 0;
+    body_state.omega = 0
-		body_state.phi = 0;
+    body_state.phi = 0
-		body_state.psi = 0;
+    body_state.psi = 0
-		body_state.xm = 0;
+    body_state.xm = 0
-		body_state.ym = this.default_height / 2;
+    body_state.ym = this.default_height / 2
-		body_state.zm = 0;
+    body_state.zm = 0
-		body_state.feet = this.default_feet_pos;
+    body_state.feet = this.default_feet_pos
-		return body_state;
+    return body_state
   }
 }
 
 export class StandState extends GaitState {
-	protected name = 'Stand';
+  protected name = 'Stand'
 
   step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		body_state.omega = 0;
+    body_state.omega = 0
-		body_state.phi = command.rx / 8;
+    body_state.phi = command.rx / 8
-		body_state.psi = command.ry / 8;
+    body_state.psi = command.ry / 8
-		body_state.xm = command.ly / 2 / 100;
+    body_state.xm = command.ly / 2 / 100
-		body_state.zm = command.lx / 2 / 100;
+    body_state.zm = command.lx / 2 / 100
-		body_state.feet = this.default_feet_pos;
+    body_state.feet = this.default_feet_pos
-		return body_state;
+    return body_state
   }
 }
 
 abstract class PhaseGaitState extends GaitState {
-	protected tick = 0;
+  protected tick = 0
-	protected phase = 0;
+  protected phase = 0
-	protected phase_time = 0;
+  protected phase_time = 0
-	protected abstract num_phases: number;
+  protected abstract num_phases: number
-	protected abstract phase_speed_factor: number;
+  protected abstract phase_speed_factor: number
-	protected abstract swing_stand_ratio: number;
+  protected abstract swing_stand_ratio: number
 
-	protected contact_phases!: number[][];
+  protected contact_phases!: number[][]
-	protected shifts!: number[][];
+  protected shifts!: number[][]
-
-	protected body_state!: body_state_t;
-	protected gait_state!: gait_state_t;
-	protected dt = 0.02;
 
   step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		this.body_state = body_state;
+    super.step(body_state, command, dt)
-		this.gait_state = this.map_command(command);
+    this.update_phase()
-		this.dt = dt / 1000;
+    this.update_body_position()
-		this.update_phase();
+    this.update_feet_positions()
-		this.update_body_position();
+    return this.body_state
-		this.update_feet_positions();
-		return this.body_state;
   }
 
   update_phase() {
-		this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity;
+    this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity
 
     if (this.phase_time >= 1) {
-			this.phase += 1;
+      this.phase += 1
-			if (this.phase == this.num_phases) this.phase = 0;
+      if (this.phase == this.num_phases) this.phase = 0
-			this.phase_time = 0;
+      this.phase_time = 0
     }
   }
 
   update_body_position() {
-		if (this.num_phases === 4) return;
+    if (this.num_phases === 4) return
 
-		const shift = this.shifts[Math.floor(this.phase / 2)];
+    const shift = this.shifts[Math.floor(this.phase / 2)]
 
-		this.body_state.xm += (shift[0] - this.body_state.xm) * this.dt * 4;
+    this.body_state.xm += (shift[0] - this.body_state.xm) * this.dt * 4
-		this.body_state.zm += (shift[2] - this.body_state.zm) * this.dt * 4;
+    this.body_state.zm += (shift[2] - this.body_state.zm) * this.dt * 4
   }
 
   update_feet_positions() {
     for (let i = 0; i < 4; i++) {
-			this.body_state.feet[i] = this.update_foot_position(i);
+      this.body_state.feet[i] = this.update_foot_position(i)
     }
   }
 
   update_foot_position(index: number): number[] {
-		const contact = this.contact_phases[index][this.phase];
+    const contact = this.contact_phases[index][this.phase]
-		return contact ? this.stand(index) : this.swing(index);
+    return contact ? this.stand(index) : this.swing(index)
   }
 
   stand(index: number): number[] {
@@ -155,88 +175,273 @@ abstract class PhaseGaitState extends GaitState {
       -this.gait_state.step_x * this.dt * this.swing_stand_ratio,
       0,
       -this.gait_state.step_z * this.dt * this.swing_stand_ratio
-		];
+    ]
 
-		this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
+    this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0]
-		this.body_state.feet[index][1] = this.default_feet_pos[index][1];
+    this.body_state.feet[index][1] = this.default_feet_pos[index][1]
-		this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
+    this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2]
-		return this.body_state.feet[index];
+    return this.body_state.feet[index]
   }
 
   swing(index: number): number[] {
-		const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt];
+    const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt]
 
     if (this.gait_state.step_x == 0) {
       delta_pos[0] =
-				(this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8;
+        (this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8
     }
 
     if (this.gait_state.step_z == 0) {
       delta_pos[2] =
-				(this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8;
+        (this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8
     }
 
-		this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
+    this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0]
     this.body_state.feet[index][1] =
-			this.default_feet_pos[index][1] +
+      this.default_feet_pos[index][1] + sin(this.phase_time * Math.PI) * this.gait_state.step_height
-			sin(this.phase_time * Math.PI) * this.gait_state.step_height;
+    this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2]
-		this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
+    return this.body_state.feet[index]
-		return this.body_state.feet[index];
   }
 }
 
 export class FourPhaseWalkState extends PhaseGaitState {
-	protected name = 'Four phase walk';
+  protected name = 'Four phase walk'
-	protected num_phases = 4;
+  protected num_phases = 4
-	protected phase_speed_factor = 2.5;
+  protected phase_speed_factor = 6
   protected contact_phases = [
     [1, 0, 1, 1],
     [1, 1, 1, 0],
     [1, 1, 1, 0],
     [1, 0, 1, 1]
-	];
+  ]
-	protected swing_stand_ratio = 1 / (this.num_phases - 1);
+  protected swing_stand_ratio = 1 / (this.num_phases - 1)
 
   begin() {
-		super.begin();
+    super.begin()
   }
 
   end() {
-		super.end();
+    super.end()
   }
 
   step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return super.step(body_state, command, dt);
+    return super.step(body_state, command, dt)
   }
 }
 
 export class EightPhaseWalkState extends PhaseGaitState {
-	protected name = 'Eight phase walk';
+  protected name = 'Eight phase walk'
-	protected num_phases = 8;
+  protected num_phases = 8
-	protected phase_speed_factor = 1.5;
+  protected phase_speed_factor = 4
   protected contact_phases = [
     [1, 0, 1, 1, 1, 1, 1, 1],
-		[1, 1, 1, 0, 1, 1, 1, 1],
     [1, 1, 1, 1, 1, 0, 1, 1],
-		[1, 1, 1, 1, 1, 1, 1, 0]
+    [1, 1, 1, 1, 1, 1, 1, 0],
-	];
+    [1, 1, 1, 0, 1, 1, 1, 1]
+  ]
   protected shifts = [
-		[-0.3, 0, -0.2],
+    [-0.05, 0, -0.2],
-		[-0.3, 0, 0.2],
+    [0.3, 0, 0.2],
-		[0.3, 0, -0.2],
+    [-0.05, 0, 0.2],
-		[0.3, 0, 0.2]
+    [0.3, 0, -0.2]
-	];
+  ]
-	protected swing_stand_ratio = 1 / (this.num_phases - 1);
+  protected swing_stand_ratio = 1 / (this.num_phases - 1)
 
   begin() {
-		super.begin();
+    super.begin()
   }
 
   end() {
-		super.end();
+    super.end()
   }
 
   step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return super.step(body_state, command, dt);
+    return super.step(body_state, command, dt)
   }
 }
+
+export class BezierState extends GaitState {
+  protected name = 'Bezier'
+  protected phase = 0
+  protected phase_num = 0
+  protected step_length: number = 0
+  offset = [0, 0.5, 0.5, 0]
+
+  begin() {
+    super.begin()
+  }
+
+  end() {
+    super.end()
+  }
+
+  step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+    super.step(body_state, command, dt)
+    this.step_length = Math.sqrt(this.gait_state.step_x ** 2 + this.gait_state.step_z ** 2)
+    if (this.gait_state.step_x < 0) {
+      this.step_length = -this.step_length
+    }
+    this.update_phase()
+    this.update_feet_positions()
+    return this.body_state
+  }
+
+  update_phase() {
+    this.phase += this.dt * this.gait_state.step_velocity * 2
+    if (this.phase >= 1) {
+      this.phase_num += 1
+      this.phase_num %= 2
+      this.phase = 0
+    }
+  }
+
+  update_feet_positions() {
+    for (let i = 0; i < 4; i++) {
+      this.body_state.feet[i] = this.update_foot_position(i)
+    }
+  }
+
+  update_foot_position(index: number): number[] {
+    let phase = this.phase + this.offset[index]
+    if (phase >= 1) {
+      phase -= 1
+    }
+    this.body_state.feet[index][0] = this.default_feet_pos[index][0]
+    this.body_state.feet[index][1] = this.default_feet_pos[index][1]
+    this.body_state.feet[index][2] = this.default_feet_pos[index][2]
+    return phase <= 0.75 ?
+        this.stand_controller(index, phase / 0.75)
+      : this.swing_controller(index, (phase - 0.75) / (1 - 0.75))
+  }
+
+  stand_controller(index: number, phase: number) {
+    let depth = this.gait_state.step_depth
+    return this.controller(index, phase, stance_curve, depth)
+  }
+
+  swing_controller(index: number, phase: number) {
+    let height = this.gait_state.step_height
+    return this.controller(index, phase, bezier_curve, height)
+  }
+
+  controller(
+    index: number,
+    phase: number,
+    controller: (length: number, angle: number, ...args: number[]) => number[],
+    ...args: number[]
+  ) {
+    let length = this.step_length / 2
+    let angle = Math.atan2(this.gait_state.step_z, this.step_length) * 2
+    const delta_pos = controller(length, angle, ...args, phase)
+
+    length = this.gait_state.step_angle * 2
+    angle = yawArc(this.default_feet_pos[index], this.body_state.feet[index])
+
+    const delta_rot = controller(length, angle, ...args, phase)
+
+    this.body_state.feet[index][0] += delta_pos[0] + delta_rot[0] * 0.2
+    this.body_state.feet[index][2] += delta_pos[2] + delta_rot[2] * 0.2
+    if (this.gait_state.step_x || this.gait_state.step_z || this.gait_state.step_angle)
+      this.body_state.feet[index][1] += delta_pos[1] + delta_rot[1] * 0.2
+
+    return this.body_state.feet[index]
+  }
+}
+
+const stance_curve = (length: number, angle: number, depth: number, phase: number): number[] => {
+  const X_POLAR = Math.cos(angle)
+  const Y_POLAR = Math.sin(angle)
+
+  const step = length * (1 - 2 * phase)
+  const X = step * X_POLAR
+  const Z = step * Y_POLAR
+  let Y = 0
+
+  if (length !== 0) {
+    Y = -depth * Math.cos((Math.PI * (X + Y)) / (2 * length))
+  }
+  return [X, Y, Z]
+}
+
+const yawArc = (default_foot_pos: number[], current_foot_pos: number[]): number => {
+  const foot_mag = Math.sqrt(default_foot_pos[0] ** 2 + default_foot_pos[2] ** 2)
+  const foot_dir = Math.atan2(default_foot_pos[2], default_foot_pos[0])
+  const offsets = [
+    current_foot_pos[0] - default_foot_pos[0],
+    current_foot_pos[2] - default_foot_pos[2],
+    current_foot_pos[1] - default_foot_pos[1]
+  ]
+  const offset_mag = Math.sqrt(offsets[0] ** 2 + offsets[2] ** 2)
+  const offset_mod = Math.atan2(offset_mag, foot_mag)
+
+  return Math.PI / 2.0 + foot_dir + offset_mod
+}
+
+const bezier_curve = (length: number, angle: number, height: number, phase: number): number[] => {
+  const control_points = get_control_points(length, angle, height)
+  const n = control_points.length - 1
+
+  const point = [0, 0, 0]
+  for (let i = 0; i <= n; i++) {
+    const bernstein_poly = comb(n, i) * Math.pow(phase, i) * Math.pow(1 - phase, n - i)
+    point[0] += bernstein_poly * control_points[i][0]
+    point[1] += bernstein_poly * control_points[i][1]
+    point[2] += bernstein_poly * control_points[i][2]
+  }
+  return point
+}
+const get_control_points = (length: number, angle: number, height: number): number[][] => {
+  const X_POLAR = Math.cos(angle)
+  const Z_POLAR = Math.sin(angle)
+
+  const STEP = [
+    -length,
+    -length * 1.4,
+    -length * 1.5,
+    -length * 1.5,
+    -length * 1.5,
+    0.0,
+    0.0,
+    0.0,
+    length * 1.5,
+    length * 1.5,
+    length * 1.4,
+    length
+  ]
+
+  const Y = [
+    0.0,
+    0.0,
+    height * 0.9,
+    height * 0.9,
+    height * 0.9,
+    height * 0.9,
+    height * 0.9,
+    height * 1.1,
+    height * 1.1,
+    height * 1.1,
+    0.0,
+    0.0
+  ]
+
+  const control_points: number[][] = []
+
+  for (let i = 0; i < STEP.length; i++) {
+    const X = STEP[i] * X_POLAR
+    const Z = STEP[i] * Z_POLAR
+    control_points.push([X, Y[i], Z])
+  }
+
+  return control_points
+}
+
+const comb = (n: number, k: number): number => {
+  if (k < 0 || k > n) return 0
+  if (k === 0 || k === n) return 1
+  k = Math.min(k, n - k)
+  let c = 1
+  for (let i = 0; i < k; i++) {
+    c = (c * (n - i)) / (i + 1)
+  }
+  return c
+}

app/src/lib/kinematic.ts

@@ -1,320 +1,131 @@
-
 export interface body_state_t {
-	omega: number;
+  omega: number
-	phi: number;
+  phi: number
-	psi: number;
+  psi: number
-	xm: number;
+  xm: number
-	ym: number;
+  ym: number
-	zm: number;
+  zm: number
-	feet: number[][];
+  feet: number[][]
 }
 
 export interface position {
-	x: number;
+  x: number
-	y: number;
+  y: number
-	z: number;
+  z: number
 }
 
 export interface target_position {
-	x: number;
+  x: number
-	z: number;
+  z: number
-	yaw: number;
+  yaw: number
 }
 
-const { cos, sin, atan2, sqrt } = Math;
+const { cos, sin, atan2, acos, sqrt, max, min } = Math
 
-const DEG2RAD = 0.017453292519943;
+const DEG2RAD = 0.017453292519943
 
 export default class Kinematic {
-	l1: number;
+  l1: number
-	l2: number;
+  l2: number
-	l3: number;
+  l3: number
-	l4: number;
+  l4: number
 
-	L: number;
+  L: number
-	W: number;
+  W: number
 
-	DEG2RAD = DEG2RAD;
+  DEG2RAD = DEG2RAD
 
-	sHp = sin(Math.PI / 2);
+  mountOffsets: number[][]
-	cHp = cos(Math.PI / 2);
 
-	Tlf: number[][] = [];
+  invMountRot = [
-	Trf: number[][] = [];
+    [0, 0, -1],
-	Tlb: number[][] = [];
+    [0, 1, 0],
-	Trb: number[][] = [];
+    [1, 0, 0]
-
+  ]
-	point_lf: number[][];
-	point_rf: number[][];
-	point_lb: number[][];
-	point_rb: number[][];
-	Ix: number[][];
 
   constructor() {
-		this.l1 = 60.5 / 100;
+    this.l1 = 60.5 / 100
-		this.l2 = 10 / 100;
+    this.l2 = 10 / 100
-		this.l3 = 100.7 / 100;
+    this.l3 = 111.7 / 100
-		this.l4 = 118.5 / 100;
+    this.l4 = 118.5 / 100
 
-		this.L = 207.5 / 100;
+    this.L = 207.5 / 100
-		this.W = 78 / 100;
+    this.W = 78 / 100
 
-		this.point_lf = [
+    this.mountOffsets = [
-			[this.cHp, 0, this.sHp, this.L / 2],
+      [this.L / 2, 0, this.W / 2],
-			[0, 1, 0, 0],
+      [this.L / 2, 0, -this.W / 2],
-			[-this.sHp, 0, this.cHp, this.W / 2],
+      [-this.L / 2, 0, this.W / 2],
-			[0, 0, 0, 1]
+      [-this.L / 2, 0, -this.W / 2]
-		];
+    ]
-
-		this.point_rf = [
-			[this.cHp, 0, this.sHp, this.L / 2],
-			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, -this.W / 2],
-			[0, 0, 0, 1]
-		];
-
-		this.point_lb = [
-			[this.cHp, 0, this.sHp, -this.L / 2],
-			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, this.W / 2],
-			[0, 0, 0, 1]
-		];
-
-		this.point_rb = [
-			[this.cHp, 0, this.sHp, -this.L / 2],
-			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, -this.W / 2],
-			[0, 0, 0, 1]
-		];
-		this.Ix = [
-			[-1, 0, 0, 0],
-			[0, 1, 0, 0],
-			[0, 0, 1, 0],
-			[0, 0, 0, 1]
-		];
   }
 
-	public calcIK(body_state: body_state_t): number[] {
+  getDefaultFeetPos(): number[][] {
-		this.bodyIK(body_state);
+    return this.mountOffsets.map((offset, i) => {
+      return [offset[0], -1, offset[2] + (i % 2 === 1 ? -this.l1 : this.l1)]
+    })
+  }
 
+  calcIK(p: body_state_t): number[] {
+    const roll = p.omega * this.DEG2RAD
+    const pitch = p.phi * this.DEG2RAD
+    const yaw = p.psi * this.DEG2RAD
+    const rot = this.euler2R(roll, pitch, yaw)
+    const inv_rot = [
+      [rot[0][0], rot[1][0], rot[2][0]],
+      [rot[0][1], rot[1][1], rot[2][1]],
+      [rot[0][2], rot[1][2], rot[2][2]]
+    ]
+    const inv_trans = [
+      -inv_rot[0][0] * p.xm - inv_rot[0][1] * p.ym - inv_rot[0][2] * p.zm,
+      -inv_rot[1][0] * p.xm - inv_rot[1][1] * p.ym - inv_rot[1][2] * p.zm,
+      -inv_rot[2][0] * p.xm - inv_rot[2][1] * p.ym - inv_rot[2][2] * p.zm
+    ]
+    return p.feet.flatMap((foot, i) => {
+      const [wx, wy, wz] = foot
+      const bx = inv_rot[0][0] * wx + inv_rot[0][1] * wy + inv_rot[0][2] * wz + inv_trans[0]
+      const by = inv_rot[1][0] * wx + inv_rot[1][1] * wy + inv_rot[1][2] * wz + inv_trans[1]
+      const bz = inv_rot[2][0] * wx + inv_rot[2][1] * wy + inv_rot[2][2] * wz + inv_trans[2]
+
+      const [mx, my, mz] = this.mountOffsets[i]
+      const px = bx - mx,
+        py = by - my,
+        pz = bz - mz
+
+      const lx =
+        this.invMountRot[0][0] * px + this.invMountRot[0][1] * py + this.invMountRot[0][2] * pz
+      const ly =
+        this.invMountRot[1][0] * px + this.invMountRot[1][1] * py + this.invMountRot[1][2] * pz
+      const lz =
+        this.invMountRot[2][0] * px + this.invMountRot[2][1] * py + this.invMountRot[2][2] * pz
+
+      const xLocal = i % 2 === 1 ? -lx : lx
+      return this.legIK(xLocal, ly, lz)
+    })
+  }
+
+  private legIK(x: number, y: number, z: number): [number, number, number] {
+    const F = sqrt(max(0, x * x + y * y - this.l1 * this.l1))
+    const G = F - this.l2
+    const H = sqrt(G * G + z * z)
+    const t1 = -atan2(y, x) - atan2(F, -this.l1)
+    const D = (H * H - this.l3 * this.l3 - this.l4 * this.l4) / (2 * this.l3 * this.l4)
+    const t3 = acos(max(-1, min(1, D)))
+    const t2 = atan2(z, G) - atan2(this.l4 * sin(t3), this.l3 + this.l4 * cos(t3))
+    return [t1, t2, t3]
+  }
+
+  private euler2R(roll: number, pitch: number, yaw: number): number[][] {
+    const cr = cos(roll),
+      sr = sin(roll)
+    const cp = cos(pitch),
+      sp = sin(pitch)
+    const cy = cos(yaw),
+      sy = sin(yaw)
     return [
-			...this.legIK(this.multiplyVector(this.inverse(this.Tlf), body_state.feet[0])),
+      [cp * cy, -cp * sy, sp],
-			...this.legIK(
+      [sr * sp * cy + sy * cr, -sr * sp * sy + cr * cy, -sr * cp],
-				this.multiplyVector(
+      [sr * sy - sp * cr * cy, sr * cy + sp * sy * cr, cr * cp]
-					this.Ix,
+    ]
-					this.multiplyVector(this.inverse(this.Trf), body_state.feet[1])
-				)
-			),
-			...this.legIK(this.multiplyVector(this.inverse(this.Tlb), body_state.feet[2])),
-			...this.legIK(
-				this.multiplyVector(
-					this.Ix,
-					this.multiplyVector(this.inverse(this.Trb), body_state.feet[3])
-				)
-			)
-		];
-	}
-
-	bodyIK(p: body_state_t) {
-		const cos_omega = cos(p.omega * this.DEG2RAD);
-		const sin_omega = sin(p.omega * this.DEG2RAD);
-		const cos_phi = cos(p.phi * this.DEG2RAD);
-		const sin_phi = sin(p.phi * this.DEG2RAD);
-		const cos_psi = cos(p.psi * this.DEG2RAD);
-		const sin_psi = sin(p.psi * this.DEG2RAD);
-
-		const Tm: number[][] = [
-			[cos_phi * cos_psi, -sin_psi * cos_phi, sin_phi, p.xm],
-			[
-				sin_omega * sin_phi * cos_psi + sin_psi * cos_omega,
-				-sin_omega * sin_phi * sin_psi + cos_omega * cos_psi,
-				-sin_omega * cos_phi,
-				p.ym
-			],
-			[
-				sin_omega * sin_psi - sin_phi * cos_omega * cos_psi,
-				sin_omega * cos_psi + sin_phi * sin_psi * cos_omega,
-				cos_omega * cos_phi,
-				p.zm
-			],
-			[0, 0, 0, 1]
-		];
-
-		this.Tlf = this.matrixMultiply(Tm, this.point_lf);
-		this.Trf = this.matrixMultiply(Tm, this.point_rf);
-		this.Tlb = this.matrixMultiply(Tm, this.point_lb);
-		this.Trb = this.matrixMultiply(Tm, this.point_rb);
-	}
-
-	public legIK(point: number[]): number[] {
-		const [x, y, z] = point;
-
-		let F = sqrt(x ** 2 + y ** 2 - this.l1 ** 2);
-		if (isNaN(F)) F = this.l1;
-
-		const G = F - this.l2;
-		const H = sqrt(G ** 2 + z ** 2);
-
-		const theta1 = -atan2(y, x) - atan2(F, -this.l1);
-		const D = (H ** 2 - this.l3 ** 2 - this.l4 ** 2) / (2 * this.l3 * this.l4);
-		let theta3 = atan2(sqrt(1 - D ** 2), D);
-		if (isNaN(theta3)) theta3 = 0;
-
-		const theta2 = atan2(z, G) - atan2(this.l4 * sin(theta3), this.l3 + this.l4 * cos(theta3));
-
-		return [theta1, theta2, theta3];
-	}
-
-	matrixMultiply(a: number[][], b: number[][]): number[][] {
-		const result: number[][] = [];
-
-		for (let i = 0; i < a.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < b[0].length; j++) {
-				let sum = 0;
-
-				for (let k = 0; k < a[i].length; k++) {
-					sum += a[i][k] * b[k][j];
-				}
-
-				row.push(sum);
-			}
-
-			result.push(row);
-		}
-
-		return result;
-	}
-
-	multiplyVector(matrix: number[][], vector: number[]): number[] {
-		const rows = matrix.length;
-		const cols = matrix[0].length;
-		const vectorLength = vector.length;
-
-		if (cols !== vectorLength) {
-			throw new Error('Matrix and vector dimensions do not match for multiplication.');
-		}
-
-		const result = [];
-
-		for (let i = 0; i < rows; i++) {
-			let sum = 0;
-
-			for (let j = 0; j < cols; j++) {
-				sum += matrix[i][j] * vector[j];
-			}
-
-			result.push(sum);
-		}
-
-		return result;
-	}
-
-	private inverse(matrix: number[][]): number[][] {
-		const det = this.determinant(matrix);
-		const adjugate = this.adjugate(matrix);
-		const scalar = 1 / det;
-		const inverse: number[][] = [];
-
-		for (let i = 0; i < matrix.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < matrix[i].length; j++) {
-				row.push(adjugate[i][j] * scalar);
-			}
-
-			inverse.push(row);
-		}
-
-		return inverse;
-	}
-
-	private determinant(matrix: number[][]): number {
-		if (matrix.length !== matrix[0].length) {
-			throw new Error('The matrix is not square.');
-		}
-
-		if (matrix.length === 2) {
-			return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
-		}
-
-		let det = 0;
-
-		for (let i = 0; i < matrix.length; i++) {
-			const sign = i % 2 === 0 ? 1 : -1;
-			const subMatrix: number[][] = [];
-
-			for (let j = 1; j < matrix.length; j++) {
-				const row: number[] = [];
-
-				for (let k = 0; k < matrix.length; k++) {
-					if (k !== i) {
-						row.push(matrix[j][k]);
   }
 }
-
-				subMatrix.push(row);
-			}
-
-			det += sign * matrix[0][i] * this.determinant(subMatrix);
-		}
-
-		return det;
-	}
-
-	private adjugate(matrix: number[][]): number[][] {
-		if (matrix.length !== matrix[0].length) {
-			throw new Error('The matrix is not square.');
-		}
-
-		const adjugate: number[][] = [];
-
-		for (let i = 0; i < matrix.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < matrix[i].length; j++) {
-				const sign = (i + j) % 2 === 0 ? 1 : -1;
-				const subMatrix: number[][] = [];
-
-				for (let k = 0; k < matrix.length; k++) {
-					if (k !== i) {
-						const subRow: number[] = [];
-
-						for (let l = 0; l < matrix.length; l++) {
-							if (l !== j) {
-								subRow.push(matrix[k][l]);
-							}
-						}
-
-						subMatrix.push(subRow);
-					}
-				}
-
-				const cofactor = sign * this.determinant(subMatrix);
-				row.push(cofactor);
-			}
-
-			adjugate.push(row);
-		}
-
-		return this.transpose(adjugate);
-	}
-
-	private transpose(matrix: number[][]): number[][] {
-		const transposed: number[][] = [];
-
-		for (let i = 0; i < matrix.length; i++) {
-			const row: number[] = [];
-
-			for (let j = 0; j < matrix[i].length; j++) {
-				row.push(matrix[j][i]);
-			}
-
-			transposed.push(row);
-		}
-
-		return transposed;
-	}
-}
-

app/src/lib/models.ts

@@ -1,169 +0,0 @@
-export type vector = { x: number; y: number };
-
-export interface ControllerInput {
-	left: vector;
-	right: vector;
-	height: number;
-	speed: number;
-	s1: number;
-}
-
-export type GithubRelease = {
-	message: string;
-	tag_name: string;
-	assets: Array<{
-		name: string;
-		browser_download_url: string;
-	}>;
-};
-
-export type JWT = { access_token: string };
-
-export type angles = number[] | Int16Array;
-
-export type WifiStatus = {
-	status: number;
-	local_ip: string;
-	mac_address: string;
-	rssi: number;
-	ssid: string;
-	bssid: string;
-	channel: number;
-	subnet_mask: string;
-	gateway_ip: string;
-	dns_ip_1: string;
-	dns_ip_2?: string;
-};
-
-export type WifiSettings = {
-	hostname: string;
-	priority_RSSI: boolean;
-	wifi_networks: NetworkItem[];
-};
-
-export type NetworkList = {
-	networks: NetworkItem[];
-};
-
-export type KnownNetworkItem = {
-	ssid: string;
-	password: string;
-	static_ip_config: boolean;
-	local_ip?: string;
-	subnet_mask?: string;
-	gateway_ip?: string;
-	dns_ip_1?: string;
-	dns_ip_2?: string;
-};
-
-export type NetworkItem = {
-	rssi: number;
-	ssid: string;
-	bssid: string;
-	channel: number;
-	encryption_type: number;
-};
-
-export type ApStatus = {
-	status: number;
-	ip_address: string;
-	mac_address: string;
-	station_num: number;
-};
-
-export type ApSettings = {
-	provision_mode: number;
-	ssid: string;
-	password: string;
-	channel: number;
-	ssid_hidden: boolean;
-	max_clients: number;
-	local_ip: string;
-	gateway_ip: string;
-	subnet_mask: string;
-};
-
-export type LightState = {
-	led_on: boolean;
-};
-
-export type NTPStatus = {
-	status: number;
-	utc_time: string;
-	local_time: string;
-	server: string;
-	uptime: number;
-};
-
-export type NTPSettings = {
-	enabled: boolean;
-	server: string;
-	tz_label: string;
-	tz_format: string;
-};
-
-export type Analytics = {
-	max_alloc_heap: number;
-	psram_size: number;
-	free_psram: number;
-	free_heap: number;
-	total_heap: number;
-	min_free_heap: number;
-	core_temp: number;
-	fs_total: number;
-	fs_used: number;
-	uptime: number;
-};
-
-export type StaticSystemInformation = {
-	esp_platform: string;
-	firmware_version: string;
-	cpu_freq_mhz: number;
-	cpu_type: string;
-	cpu_rev: number;
-	cpu_cores: number;
-	sketch_size: number;
-	free_sketch_space: number;
-	sdk_version: string;
-	arduino_version: string;
-	flash_chip_size: number;
-	flash_chip_speed: number;
-	cpu_reset_reason: string;
-};
-
-export type SystemInformation = Analytics & StaticSystemInformation;
-
-export type CameraSettings = {
-	framesize: number;
-	quality: number;
-	brightness: number;
-	contrast: number;
-	saturation: number;
-	sharpness: number;
-	denoise: number;
-	special_effect: number;
-	wb_mode: number;
-	vflip: boolean;
-	hmirror: boolean;
-};
-
-export type File = number;
-
-export interface Directory {
-	[key: string]: File | Directory;
-}
-
-export type Servo = {
-	name: string;
-	channel: number;
-	inverted: boolean;
-	angle: number;
-	center_angle: number;
-};
-
-export type ServoConfiguration = {
-	is_active: boolean;
-	servo_pwm_frequency: number;
-	servo_oscillator_frequency: number;
-	servos: Servo[];
-};

app/src/lib/sceneBuilder.ts

@@ -7,7 +7,7 @@ import {
     AmbientLight,
     DirectionalLight,
     PCFSoftShadowMap,
-	GridHelper,
+    type GridHelper,
     ArrowHelper,
     Vector3,
     FogExp2,
@@ -18,12 +18,14 @@ import {
     EquirectangularReflectionMapping,
     ACESFilmicToneMapping,
     MathUtils,
-	MeshStandardMaterial,
+    Group,
-	Group
+    MeshBasicMaterial,
+    RepeatWrapping
 } from 'three';
 import { Sky } from 'three/addons/objects/Sky.js';
 import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls';
 import { TransformControls } from 'three/examples/jsm/controls/TransformControls';
+import { Reflector } from 'three/examples/jsm/objects/Reflector.js';
 import { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader';
 import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls';
 import { sunCalculator } from './utilities/position-utilities';
@@ -41,11 +43,6 @@ interface light {
     intensity?: number;
 }
 
-interface gridOptions {
-	divisions?: number;
-	size?: number;
-}
-
 interface arrowOptions {
     origin: position;
     direction: position;
@@ -55,8 +52,6 @@ interface arrowOptions {
 
 type directionalLight = position & light;
 
-type gridHelperOptions = gridOptions & position;
-
 export default class SceneBuilder {
     public scene: Scene;
     public camera!: PerspectiveCamera;
@@ -104,7 +99,7 @@ export default class SceneBuilder {
             mieCoefficient: 0.005,
             mieDirectionalG: 0.7,
             elevation: sunCalculator.calculateSunElevation(),
-			azimuth: 180,
+            azimuth: 200,
             exposure: this.renderer.toneMappingExposure
         };
         const uniforms = this.sky.material.uniforms;
@@ -130,13 +125,33 @@ export default class SceneBuilder {
     };
 
     public addGroundPlane = (options?: position) => {
-		var planeMaterial = new MeshStandardMaterial({ color: 0x808080, side: 2, opacity: 0.5 });
+        const checkerboardTexture = this.createCheckerboardTexture(1024, 2);
-		this.ground = new Mesh(new PlaneGeometry(), planeMaterial);
+        checkerboardTexture.wrapS = RepeatWrapping;
+        checkerboardTexture.wrapT = RepeatWrapping;
+        checkerboardTexture.repeat.set(100, 100);
+        const checkerboardMat = new MeshBasicMaterial({
+            map: checkerboardTexture,
+            opacity: 0.1,
+            transparent: true
+        });
+
+        const plane = new PlaneGeometry(400, 400);
+
+        this.ground = new Mesh(plane, checkerboardMat);
         this.ground.rotation.x = -Math.PI / 2;
-		this.ground.scale.setScalar(30);
+        this.ground.position.set(options?.x ?? 0, options?.y ?? 0.01, options?.z ?? 0);
-		this.ground.position.set(options?.x ?? 0, options?.y ?? 0, options?.z ?? 0);
         this.ground.receiveShadow = true;
         this.scene.add(this.ground);
+
+        const mirror = new Reflector(plane, {
+            clipBias: 0.003,
+            textureWidth: window.innerWidth * window.devicePixelRatio,
+            textureHeight: window.innerHeight * window.devicePixelRatio,
+            color: 0x00bfff
+        });
+        mirror.rotateX(-Math.PI / 2);
+        this.scene.add(mirror);
+
         return this;
     };
 
@@ -169,14 +184,25 @@ export default class SceneBuilder {
         return this;
     };
 
-	public addGridHelper = (options: gridHelperOptions) => {
+    private createCheckerboardTexture = (size: number, squares: number) => {
-		this.gridHelper = new GridHelper(options.size, options.divisions);
+        const canvas = document.createElement('canvas');
-		this.gridHelper.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
+        canvas.width = size;
-		this.gridHelper.material.opacity = 0.2;
+        canvas.height = size;
-		this.gridHelper.material.depthWrite = false;
+        const context = canvas.getContext('2d');
-		this.gridHelper.material.transparent = true;
+
-		this.scene.add(this.gridHelper);
+        const squareSize = size / squares;
-		return this;
+
+        for (let y = 0; y < squares; y++) {
+            for (let x = 0; x < squares; x++) {
+                context!.fillStyle = (x + y) % 2 === 0 ? '#ffffff' : '#000000';
+                context!.fillRect(x * squareSize, y * squareSize, squareSize, squareSize);
+            }
+        }
+
+        const texture = new CanvasTexture(canvas);
+        texture.wrapS = texture.wrapT = RepeatWrapping;
+        texture.anisotropy = 16;
+        return texture;
     };
 
     public addFogExp2 = (color: ColorRepresentation, density?: number) => {
@@ -297,7 +323,7 @@ export default class SceneBuilder {
             shininess: 10,
             color: highlightColor,
             emissive: highlightColor,
-			emissiveIntensity: 0.25
+            emissiveIntensity: 0.9
         });
 
         const dragControls = new PointerURDFDragControls(
@@ -322,14 +348,20 @@ export default class SceneBuilder {
         dragControls.onUnhover = (joint: URDFMimicJoint) =>
             this.highlightLinkGeometry(joint, true, highlightMaterial);
 
-		this.renderer.domElement.addEventListener('touchstart', (data) =>
+        this.renderer.domElement.addEventListener(
-			dragControls._mouseDown(data.touches[0])
+            'touchstart',
+            data => dragControls._mouseDown(data.touches[0]),
+            { passive: true }
         );
-		this.renderer.domElement.addEventListener('touchmove', (data) =>
+        this.renderer.domElement.addEventListener(
-			dragControls._mouseMove(data.touches[0])
+            'touchmove',
+            data => dragControls._mouseMove(data.touches[0]),
+            { passive: true }
         );
-		this.renderer.domElement.addEventListener('touchend', (data) =>
+        this.renderer.domElement.addEventListener(
-			dragControls._mouseUp(data.touches[0])
+            'touchend',
+            data => dragControls._mouseUp(data.touches[0]),
+            { passive: true }
         );
         return this;
     };
@@ -340,12 +372,8 @@ export default class SceneBuilder {
 
     private handleRobotShadow = () => {
         if (this.isLoaded) return;
-		const intervalId = setInterval(() => {
+        const intervalId = setInterval(() => this.model?.traverse(c => (c.castShadow = true)), 10);
-			this.model?.traverse((c) => (c.castShadow = true));
+        setTimeout(() => clearInterval(intervalId), 1000);
-		}, 10);
-		setTimeout(() => {
-			clearInterval(intervalId);
-		}, 1000);
         this.isLoaded = true;
     };
 }

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

@@ -1,51 +1,38 @@
 import { Result } from '$lib/utilities/result';
+import { browser } from '$app/environment';
 
 class FileService {
-	private dbName = 'fileStorageDB';
+	private dbPromise: Promise<Result<IDBDatabase, string>> | null = browser
-	private dbVersion = 1;
+		? this.openDatabase()
-	private storeName = 'files';
+		: null;
-	private dbPromise: Promise<Result<IDBDatabase, string>>;
-
-	constructor() {
-		this.dbPromise = this.openDatabase();
-	}
 
 	private async openDatabase(): Promise<Result<IDBDatabase, string>> {
 		return new Promise((resolve) => {
-			const request = indexedDB.open(this.dbName, this.dbVersion);
+			const request = indexedDB.open('fileStorageDB', 1);
 
-			request.onerror = () => resolve(Result.err('Error opening database'));
+			request.onupgradeneeded = () => {
-
+				request.result.createObjectStore('files');
-			request.onsuccess = () => resolve(Result.ok(request.result));
-
-			request.onupgradeneeded = (event) => {
-				const db = request.result;
-				if (!db.objectStoreNames.contains(this.storeName)) {
-					db.createObjectStore(this.storeName);
-				}
 			};
+			request.onsuccess = () => resolve(Result.ok(request.result));
+			request.onerror = () => resolve(Result.err('Error opening database'));
 		});
 	}
 
 	private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
+		if (!browser || !this.dbPromise)
+			return Result.err('Not running in browser or DB not initialized');
 		const dbResult = await this.dbPromise;
-		if (dbResult.isErr()) {
+		if (dbResult.isErr()) return Result.err('Database not initialized');
-			return Result.err('Database not initialized properly');
+		const store = dbResult.inner.transaction('files', mode).objectStore('files');
-		}
+		return Result.ok(store);
-		const db = dbResult.inner;
-		const transaction = db.transaction(this.storeName, mode);
-		return Result.ok(transaction.objectStore(this.storeName));
 	}
 
 	public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
 		const storeResult = await this.getStore('readwrite');
-		if (storeResult.isErr()) {
+		if (storeResult.isErr()) return Result.err('Failed to access store');
-			return Result.err('Failed to access object store for writing');
-		}
-		const store = storeResult.inner;
 
 		return new Promise((resolve) => {
-			const request = store.put(file, key);
+			const request = storeResult.inner.put(file, key);
 			request.onsuccess = () => resolve(Result.ok(request.result));
 			request.onerror = () => resolve(Result.err('Failed to save file'));
 		});
@@ -53,19 +40,15 @@ class FileService {
 
 	public async getFile(key: string): Promise<Result<Uint8Array | undefined, string>> {
 		const storeResult = await this.getStore('readonly');
-		if (storeResult.isErr()) {
+		if (storeResult.isErr()) return Result.err('Failed to access store');
-			return Result.err('Failed to access object store for reading');
-		}
-		const store = storeResult.inner;
 
 		return new Promise((resolve) => {
-			const request = store.get(key);
+			const request = storeResult.inner.get(key);
-
 			request.onsuccess = () =>
-				resolve(request.result ? Result.ok(request.result) : Result.err('File content not found'));
+				resolve(request.result ? Result.ok(request.result) : Result.err('File not found'));
 			request.onerror = () => resolve(Result.err('Failed to retrieve file'));
 		});
 	}
 }
 
-export default new FileService();
+export default browser ? new FileService() : null;

app/src/lib/stores/application.ts

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

app/src/lib/stores/featureFlags.ts

@@ -0,0 +1,20 @@
+import { api } from '$lib/api';
+import { notifications } from '$lib/components/toasts/notifications';
+import { writable, type Writable } from 'svelte/store';
+
+let featureFlagsStore: Writable<Record<string, boolean>>;
+
+export function useFeatureFlags() {
+	if (!featureFlagsStore) {
+		featureFlagsStore = writable<Record<string, boolean>>({});
+
+		api.get<Record<string, boolean>>('/api/features').then((result) => {
+			if (result.isOk()) featureFlagsStore.set(result.inner);
+			else {
+				notifications.error('Feature flag could not be fetched', 2500);
+			}
+		});
+	}
+
+	return featureFlagsStore;
+}

app/src/lib/stores/fullscreen.ts

@@ -0,0 +1,24 @@
+import { writable } from 'svelte/store';
+
+export const isFullscreen = writable(false);
+
+export function toggleFullscreen() {
+	isFullscreen.update((state) => {
+		!state ? document.documentElement.requestFullscreen() : document.exitFullscreen();
+		return !state;
+	});
+}
+
+export function enterFullscreen() {
+	if (!document.fullscreenElement) {
+		document.documentElement.requestFullscreen();
+		isFullscreen.set(true);
+	}
+}
+
+export function exitFullscreen() {
+	if (document.fullscreenElement) {
+		document.exitFullscreen();
+		isFullscreen.set(false);
+	}
+}

app/src/lib/stores/gamepad.ts

@@ -0,0 +1,47 @@
+import { readable, derived } from 'svelte/store'
+
+export type GamepadState = {
+  available: boolean
+  gamepads: Gamepad[]
+}
+
+export const gamepads = readable<GamepadState>({ available: false, gamepads: [] }, set => {
+  const update = () => {
+    const hasGamepadAPI = 'getGamepads' in navigator
+    if (!hasGamepadAPI) {
+      set({ available: false, gamepads: [] })
+      return
+    }
+
+    const gps = navigator.getGamepads?.() ?? []
+    const validGamepads = gps.filter(Boolean) as Gamepad[]
+    set({
+      available: true,
+      gamepads: validGamepads
+    })
+    raf = requestAnimationFrame(update)
+  }
+
+  window.addEventListener('gamepadconnected', update)
+  window.addEventListener('gamepaddisconnected', update)
+  let raf = requestAnimationFrame(update)
+
+  return () => {
+    cancelAnimationFrame(raf)
+    window.removeEventListener('gamepadconnected', update)
+    window.removeEventListener('gamepaddisconnected', update)
+  }
+})
+
+export const gamepad = derived(gamepads, $gamepads =>
+  $gamepads.available && $gamepads.gamepads.length > 0 ? $gamepads.gamepads[0] : null
+)
+
+export const gamepadAxes = derived(gamepad, $gamepad => $gamepad?.axes ?? [0, 0, 0, 0])
+
+export const gamepadButtons = derived(gamepad, $gamepad => $gamepad?.buttons ?? [])
+
+export const hasGamepad = derived(
+  gamepads,
+  $gamepads => $gamepads.available && $gamepads.gamepads.length > 0
+)

app/src/lib/stores/imu.ts

@@ -1,36 +1,27 @@
-import { type IMU } from '$lib/types/models';
 import { writable } from 'svelte/store';
-
+import type { IMU } from '$lib/types/models';
-let imu_data = {
-	x: <number[]>[],
-	y: <number[]>[],
-	z: <number[]>[],
-	imu_temp: <number[]>[],
-	altitude: <number[]>[],
-	pressure: <number[]>[],
-	bmp_temp: <number[]>[]
-};
 
 const maxIMUData = 100;
 
-function createIMU() {
+export const imu = (() => {
-	const { subscribe, update } = writable(imu_data);
+    const { subscribe, update } = writable({
+        x: [] as number[],
+        y: [] as number[],
+        z: [] as number[],
+        heading: [] as number[],
+        altitude: [] as number[],
+        pressure: [] as number[],
+        bmp_temp: [] as number[]
+    });
 
-	return {
+    const addData = (content: IMU) => {
-		subscribe,
+        update(data => {
-		addData: (content: IMU) => {
+            (Object.keys(content) as (keyof IMU)[]).forEach(key => {
-			update((imu_data) => ({
+                data[key] = [...data[key], content[key]].slice(-maxIMUData);
-				...imu_data,
+            });
-				x: [...imu_data.x, content.x].slice(-maxIMUData),
+            return data;
-				y: [...imu_data.y, content.y].slice(-maxIMUData),
+        });
-				z: [...imu_data.z, content.z].slice(-maxIMUData),
-				imu_temp: [...imu_data.imu_temp, content.imu_temp].slice(-maxIMUData),
-				altitude: [...imu_data.altitude, content.altitude].slice(-maxIMUData),
-				pressure: [...imu_data.pressure, content.pressure].slice(-maxIMUData),
-				bmp_temp: [...imu_data.bmp_temp, content.bmp_temp].slice(-maxIMUData)
-			}));
-		}
     };
-}
 
-export const imu = createIMU();
+    return { subscribe, addData };
+})();

app/src/lib/stores/index.ts

@@ -2,3 +2,8 @@ export * from './socket-store';
 export * from './logging-store';
 export * from './model-store';
 export * from './socket';
+export * from './fullscreen';
+export * from './telemetry';
+export * from './analytics';
+export * from './featureFlags';
+export * from './location-store';

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

@@ -0,0 +1,5 @@
+import { persistentStore } from '$lib/utilities';
+import { writable } from 'svelte/store';
+import appEnv from 'app-env';
+
+export const location = appEnv.VITE_USE_HOST_NAME ? writable('') : persistentStore('location', '');

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

@@ -1,14 +1,22 @@
-import type { ControllerInput } from '$lib/models';
+import type { ControllerInput } from '$lib/types/models';
 import { persistentStore } from '$lib/utilities/svelte-utilities';
 import { writable, type Writable } from 'svelte/store';
 
 export const emulateModel = writable(true);
 
-export const jointNames = persistentStore('joint_names', []);
+export const jointNames = persistentStore('joint_names', <string[]>[]);
 
 export const model = writable();
 
-export const modes = ['deactivated', 'idle', 'calibration', 'rest', 'stand', 'crawl', 'walk'] as const;
+export const modes = [
+	'deactivated',
+	'idle',
+	'calibration',
+	'rest',
+	'stand',
+	'crawl',
+	'walk'
+] as const;
 
 export type Modes = (typeof modes)[number];
 
@@ -22,7 +30,7 @@ export enum ModesEnum {
 	Walk
 }
 
-export const mode: Writable<ModesEnum> = writable(ModesEnum.Walk);
+export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated);
 
 export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0]);
 

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

@@ -1,5 +1,5 @@
 import { writable, type Writable } from 'svelte/store';
-import { type angles } from '$lib/models';
+import { type angles } from '$lib/types/models';
 
 export const servoAnglesOut: Writable<number[]> = writable([
 	0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
@@ -8,7 +8,6 @@ export const servoAngles: Writable<number[]> = writable([
 	0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
 ]);
 export const logs = writable([] as string[]);
-export const battery = writable({});
 export const mpu = writable({ heading: 0 });
 export const sonar = writable([0, 0]);
 export const distances = writable({});
@@ -16,7 +15,6 @@ export const distances = writable({});
 export interface socketDataCollection {
 	angles: Writable<angles>;
 	logs: Writable<string[]>;
-	battery: Writable<unknown>;
 	mpu: Writable<unknown>;
 	distances: Writable<unknown>;
 }
@@ -24,7 +22,6 @@ export interface socketDataCollection {
 export const socketData = {
 	angles: servoAngles,
 	logs,
-	battery,
 	mpu,
 	distances
 };

app/src/lib/stores/socket.ts

@@ -1,122 +1,132 @@
-import { writable } from 'svelte/store';
+import { writable } from 'svelte/store'
 
-const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const;
+const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
-type SocketEvent = (typeof socketEvents)[number];
+type SocketEvent = (typeof socketEvents)[number]
+
+export enum Topics {
+  imu = 0,
+  mode = 1,
+  command = 2,
+  servo = 3,
+  input = 4,
+  angles = 5,
+  position = 6
+}
 
 function createWebSocket() {
-	let listeners = new Map<string, Set<(data?: unknown) => void>>();
+  let listeners = new Map<string | Topics, Set<(data?: unknown) => void>>()
-	const { subscribe, set } = writable(false);
+  const { subscribe, set } = writable(false)
-	const reconnectTimeoutTime = 5000;
+  const reconnectTimeoutTime = 5000
-	let unresponsiveTimeoutId: number;
+  let unresponsiveTimeoutId: number
-	let reconnectTimeoutId: number;
+  let reconnectTimeoutId: number
-	let ws: WebSocket;
+  let ws: WebSocket
-	let socketUrl: string | URL;
+  let socketUrl: string | URL
 
   function init(url: string | URL) {
-		socketUrl = url;
+    socketUrl = url
-		connect();
+    connect()
   }
 
   function disconnect(reason: SocketEvent, event?: Event) {
-		ws.close();
+    ws.close()
-		set(false);
+    set(false)
-		clearTimeout(unresponsiveTimeoutId);
+    clearTimeout(unresponsiveTimeoutId)
-		clearTimeout(reconnectTimeoutId);
+    clearTimeout(reconnectTimeoutId)
-		listeners.get(reason)?.forEach((listener) => listener(event));
+    listeners.get(reason)?.forEach(listener => listener(event))
-		reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime);
+    reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime)
   }
 
   function connect() {
-		ws = new WebSocket(socketUrl);
+    ws = new WebSocket(socketUrl)
-		ws.onopen = (ev) => {
+    ws.onopen = ev => {
-			set(true);
+      set(true)
-			clearTimeout(reconnectTimeoutId);
+      clearTimeout(reconnectTimeoutId)
-			listeners.get('open')?.forEach((listener) => listener(ev));
+      listeners.get('open')?.forEach(listener => listener(ev))
       for (const event of listeners.keys()) {
-				if (socketEvents.includes(event as SocketEvent)) continue;
+        if (socketEvents.includes(event as SocketEvent)) continue
-				subscribeToEvent(event);
+        subscribeToEvent(event as unknown as Topics)
       }
-		};
+    }
-		ws.onmessage = (message) => {
+    ws.onmessage = message => {
-			resetUnresponsiveCheck();
+      resetUnresponsiveCheck()
-			let data = message.data;
+      let data = message.data
       if (data instanceof ArrayBuffer) {
-				listeners.get('binary')?.forEach((listener) => listener(data));
+        listeners.get('binary')?.forEach(listener => listener(data))
-				return;
+        return
       }
-			data = data.substring(1);
+      data = data.substring(1)
 
-			if (!data) return;
+      if (!data) return
 
-			let event = data.substring(data.indexOf('/') + 1, data.indexOf('['));
+      let event = data.substring(data.indexOf('/') + 1, data.indexOf('['))
-			let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'));
+      let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'))
 
       try {
-				payload = JSON.parse(payload);
+        payload = JSON.parse(payload)
       } catch (error) {}
-			if (event) listeners.get(event)?.forEach((listener) => listener(payload));
+      if (event) listeners.get(event)?.forEach(listener => listener(payload))
-		};
+    }
-		ws.onerror = (ev) => disconnect('error', ev);
+    ws.onerror = ev => disconnect('error', ev)
-		ws.onclose = (ev) => disconnect('close', ev);
+    ws.onclose = ev => disconnect('close', ev)
   }
 
-	function unsubscribe(event: string, listener?: (data: any) => void) {
+  function unsubscribe(event: Topics, listener?: (data: any) => void) {
-		let eventListeners = listeners.get(event);
+    let eventListeners = listeners.get(event)
-		if (!eventListeners) return;
+    if (!eventListeners) return
 
     if (!eventListeners.size) {
-			unsubscribeToEvent(event);
+      unsubscribeToEvent(event)
     }
     if (listener) {
-			eventListeners?.delete(listener);
+      eventListeners?.delete(listener)
     } else {
-			listeners.delete(event);
+      listeners.delete(event)
     }
   }
 
   function resetUnresponsiveCheck() {
-		clearTimeout(unresponsiveTimeoutId);
+    clearTimeout(unresponsiveTimeoutId)
-		unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime);
+    unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime)
   }
 
-	function sendEvent(event: string, data: unknown) {
+  function sendEvent(event: Topics, data: unknown) {
-		if (!ws || ws.readyState !== WebSocket.OPEN) return;
+    if (!ws || ws.readyState !== WebSocket.OPEN) return
-		ws.send(`2/${event}[${JSON.stringify(data)}]`);
+    ws.send(JSON.stringify([2, event, data]))
   }
 
-	function unsubscribeToEvent(event: string) {
+  function unsubscribeToEvent(event: Topics) {
-		if (!ws || ws.readyState !== WebSocket.OPEN) return;
+    if (!ws || ws.readyState !== WebSocket.OPEN) return
-		ws.send('1/' + event);
+    ws.send(`[1,${event}]`)
   }
 
-	function subscribeToEvent(event: string) {
+  function subscribeToEvent(event: Topics) {
-		if (!ws || ws.readyState !== WebSocket.OPEN) return;
+    if (!ws || ws.readyState !== WebSocket.OPEN) return
-		ws.send('0/' + event);
+    ws.send(`[0,${event}]`)
   }
 
   return {
     subscribe,
     sendEvent,
     init,
-		on: <T>(event: string, listener: (data: T) => void): (() => void) => {
+    on: <T>(event: Topics | SocketEvent, listener: (data: T) => void): (() => void) => {
-			let eventListeners = listeners.get(event);
+      let eventListeners = listeners.get(event)
       if (!eventListeners) {
-				if (!socketEvents.includes(event as SocketEvent)) {
+        if (!socketEvents.includes(event)) {
-					subscribeToEvent(event);
+          subscribeToEvent(event)
         }
-				eventListeners = new Set();
+        eventListeners = new Set()
-				listeners.set(event, eventListeners);
+        listeners.set(event, eventListeners)
       }
-			eventListeners.add(listener as (data: any) => void);
+      eventListeners.add(listener as (data: any) => void)
 
       return () => {
-				unsubscribe(event, listener);
+        unsubscribe(event, listener)
-			};
+      }
-		},
+    },
-		off: (event: string, listener?: (data: any) => void) => {
+    off: (event: Topics, listener?: (data: any) => void) => {
-			unsubscribe(event, listener);
+      unsubscribe(event, listener)
+    }
   }
-	};
 }
 
-export const socket = createWebSocket();
+export const socket = createWebSocket()

app/src/lib/stores/telemetry.ts

@@ -1,14 +1,10 @@
-import type { Battery, DownloadOTA } from '$lib/types/models';
+import type { DownloadOTA } from '$lib/types/models';
 import { writable } from 'svelte/store';
 
 let telemetry_data = {
     rssi: {
         rssi: 0
     },
-	battery: {
-		voltage: 100,
-		current: false
-	},
     download_ota: {
         status: 'none',
         progress: 0,
@@ -22,19 +18,13 @@ function createTelemetry() {
     return {
         subscribe,
         setRSSI: (data: number) => {
-			update((telemetry_data) => ({
+            update(telemetry_data => ({
                 ...telemetry_data,
                 rssi: { rssi: data }
             }));
         },
-		setBattery: (data: Battery) => {
-			update((telemetry_data) => ({
-				...telemetry_data,
-				battery: { voltage: data.voltage, current: data.current }
-			}));
-		},
         setDownloadOTA: (data: DownloadOTA) => {
-			update((telemetry_data) => ({
+            update(telemetry_data => ({
                 ...telemetry_data,
                 download_ota: { status: data.status, progress: data.progress, error: data.error }
             }));

app/src/lib/stores/user.ts

@@ -1,55 +0,0 @@
-import { writable } from 'svelte/store';
-import { goto } from '$app/navigation';
-import { jwtDecode } from 'jwt-decode';
-
-export type userProfile = {
-	username: string;
-	admin: boolean;
-	bearer_token: string;
-};
-
-type decodedJWT = {
-	username: string;
-	admin: boolean;
-};
-
-let empty = {
-	username: '',
-	admin: false,
-	bearer_token: ''
-};
-
-function createStore() {
-	const { subscribe, set } = writable(empty);
-
-	// retrieve store from sessionStorage / localStorage if available
-	const userdata = localStorage.getItem('user');
-	if (userdata) {
-		set(JSON.parse(userdata));
-	}
-
-	return {
-		subscribe,
-		init: (access_token: string) => {
-			const decoded: decodedJWT = jwtDecode(access_token);
-			const userdata = {
-				bearer_token: access_token,
-				username: decoded.username,
-				admin: decoded.admin
-			};
-			set(userdata);
-			// persist store in sessionStorage / localStorage
-			localStorage.setItem('user', JSON.stringify(userdata));
-		},
-		invalidate: () => {
-			console.log('Log out user');
-			set(empty);
-			// remove localStorage "user"
-			localStorage.removeItem('user');
-			// redirect to login page
-			goto('/');
-		}
-	};
-}
-
-export const user = createStore();

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

@@ -0,0 +1,17 @@
+declare module 'three/src/math/MathUtils' {
+	export function generateUUID(): string;
+	export function clamp(value: number, min: number, max: number): number;
+	export function euclideanModulo(n: number, m: number): number;
+	export function mapLinear(x: number, a1: number, a2: number, b1: number, b2: number): number;
+	export function lerp(x: number, y: number, t: number): number;
+	export function smoothstep(x: number, min: number, max: number): number;
+	export function smootherstep(x: number, min: number, max: number): number;
+	export function randInt(low: number, high: number): number;
+	export function randFloat(low: number, high: number): number;
+	export function randFloatSpread(range: number): number;
+	export function degToRad(degrees: number): number;
+	export function radToDeg(radians: number): number;
+	export function isPowerOfTwo(value: number): boolean;
+	export function ceilPowerOfTwo(value: number): number;
+	export function floorPowerOfTwo(value: number): number;
+}

app/src/lib/types/models.ts

@@ -1,143 +1,221 @@
+export type vector = { x: number; y: number }
+
+export interface ControllerInput {
+  left: vector
+  right: vector
+  height: number
+  speed: number
+  s1: number
+}
+
+export type GithubRelease = {
+  message: string
+  tag_name: string
+  assets: Array<{
+    name: string
+    browser_download_url: string
+  }>
+}
+
+export type angles = number[] | Int16Array
+
 export type WifiStatus = {
-	status: number;
+  status: number
-	local_ip: string;
+  local_ip: string
-	mac_address: string;
+  mac_address: string
-	rssi: number;
+  rssi: number
-	ssid: string;
+  ssid: string
-	bssid: string;
+  bssid: string
-	channel: number;
+  channel: number
-	subnet_mask: string;
+  subnet_mask: string
-	gateway_ip: string;
+  gateway_ip: string
-	dns_ip_1: string;
+  dns_ip_1: string
-	dns_ip_2?: string;
+  dns_ip_2?: string
-};
+}
 
 export type WifiSettings = {
-	hostname: string;
+  hostname: string
-	priority_RSSI: boolean;
+  priority_RSSI: boolean
-	wifi_networks: KnownNetworkItem[];
+  wifi_networks: KnownNetworkItem[]
-};
+}
+
+export type NetworkList = {
+  networks: NetworkItem[]
+}
 
 export type KnownNetworkItem = {
-	ssid: string;
+  ssid: string
-	password: string;
+  password: string
-	static_ip_config: boolean;
+  static_ip_config: boolean
-	local_ip?: string;
+  local_ip?: string
-	subnet_mask?: string;
+  subnet_mask?: string
-	gateway_ip?: string;
+  gateway_ip?: string
-	dns_ip_1?: string;
+  dns_ip_1?: string
-	dns_ip_2?: string;
+  dns_ip_2?: string
-};
+}
 
 export type NetworkItem = {
-	rssi: number;
+  rssi: number
-	ssid: string;
+  ssid: string
-	bssid: string;
+  bssid: string
-	channel: number;
+  channel: number
-	encryption_type: number;
+  encryption_type: number
-};
+}
 
 export type ApStatus = {
-	status: number;
+  status: number
-	ip_address: string;
+  ip_address: string
-	mac_address: string;
+  mac_address: string
-	station_num: number;
+  station_num: number
-};
+}
 
 export type ApSettings = {
-	provision_mode: number;
+  provision_mode: number
-	ssid: string;
+  ssid: string
-	password: string;
+  password: string
-	channel: number;
+  channel: number
-	ssid_hidden: boolean;
+  ssid_hidden: boolean
-	max_clients: number;
+  max_clients: number
-	local_ip: string;
+  local_ip: string
-	gateway_ip: string;
+  gateway_ip: string
-	subnet_mask: string;
+  subnet_mask: string
-};
+}
-
-export type NTPStatus = {
-	status: number;
-	utc_time: string;
-	local_time: string;
-	server: string;
-	uptime: number;
-};
-
-export type RSSI = {
-	rssi: number;
-	ssid: string;
-};
-
-export type Battery = {
-	voltage: number;
-	current: boolean;
-};
 
 export type DownloadOTA = {
-	status: string;
+  status: string
-	progress: number;
+  progress: number
-	error: string;
+  error: string
-};
+}
-
-export type NTPSettings = {
-	enabled: boolean;
-	server: string;
-	tz_label: string;
-	tz_format: string;
-};
 
 export type Analytics = {
-	max_alloc_heap: number;
+  max_alloc_heap: number
-	psram_size: number;
+  psram_size: number
-	free_psram: number;
+  free_psram: number
-	free_heap: number;
+  free_heap: number
-	total_heap: number;
+  total_heap: number
-	min_free_heap: number;
+  min_free_heap: number
-	core_temp: number;
+  core_temp: number
-	fs_total: number;
+  fs_total: number
-	fs_used: number;
+  fs_used: number
-	uptime: number;
+  uptime: number
-	cpu0_usage: number;
+  cpu0_usage: number
-	cpu1_usage: number;
+  cpu1_usage: number
-	cpu_usage: number;
+  cpu_usage: number
-};
+}
 
 export type Rssi = {
-	rssi: number;
+  rssi: number
-	ssid: string;
+  ssid: string
-};
+}
 
 export type StaticSystemInformation = {
-	esp_platform: string;
+  esp_platform: string
-	firmware_version: string;
+  firmware_version: string
-	cpu_freq_mhz: number;
+  cpu_freq_mhz: number
-	cpu_type: string;
+  cpu_type: string
-	cpu_rev: number;
+  cpu_rev: number
-	cpu_cores: number;
+  cpu_cores: number
-	sketch_size: number;
+  sketch_size: number
-	free_sketch_space: number;
+  free_sketch_space: number
-	sdk_version: string;
+  sdk_version: string
-	arduino_version: string;
+  arduino_version: string
-	flash_chip_size: number;
+  flash_chip_size: number
-	flash_chip_speed: number;
+  flash_chip_speed: number
-	cpu_reset_reason: string;
+  cpu_reset_reason: string
-};
+}
 
-export type SystemInformation = Analytics & StaticSystemInformation;
+export type SystemInformation = Analytics & StaticSystemInformation
 
 export type IMU = {
-	x: number;
+  x: number
-	y: number;
+  y: number
-	z: number;
+  z: number
-	imu_temp: number;
+  heading: number
-	altitude: number;
+  altitude: number
-	bmp_temp: number;
+  bmp_temp: number
-	pressure: number;
+  pressure: number
-};
+}
 
 export interface I2CDevice {
-    address: number;
+  address: number
-    part_number: string;
+  part_number: string
-    name: string;
+  name: string
-};
+}
+
+export type PinConfig = {
+  pin: number
+  mode: string
+  type: string
+  role: string
+}
+
+export type PeripheralsConfiguration = {
+  sda: number
+  scl: number
+  frequency: number
+  pins: PinConfig[]
+}
+
+export type CameraSettings = {
+  framesize: number
+  quality: number
+  brightness: number
+  contrast: number
+  saturation: number
+  sharpness: number
+  denoise: number
+  special_effect: number
+  wb_mode: number
+  vflip: boolean
+  hmirror: boolean
+}
+
+export type File = number
+
+export interface Directory {
+  [key: string]: File | Directory
+}
+
+export type Servo = {
+  name: string
+  channel: number
+  inverted: boolean
+  angle: number
+  center_angle: number
+}
+
+export type ServoConfiguration = {
+  is_active: boolean
+  servo_pwm_frequency: number
+  servo_oscillator_frequency: number
+  servos: Servo[]
+}
+
+export interface MDNSServiceQuery {
+  services: MDNSServiceItem[]
+}
+
+export interface MDNSServiceItem {
+  ip: string
+  port: number
+  name: string
+}
+
+export interface MDNSService {
+  service: string
+  protocol: string
+  port: number
+}
+
+export interface MDNSTxtRecord {
+  key: string
+  value: string
+}
+
+export interface MDNSStatus {
+  started: boolean
+  hostname: string
+  instance: string
+  services: MDNSService[]
+  global_txt_records: MDNSTxtRecord[]
+}

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

@@ -0,0 +1,14 @@
+declare module 'uzip' {
+	interface UZIP {
+		parse(data: Uint8Array | ArrayBuffer): any;
+		compress(data: any): Uint8Array | ArrayBuffer;
+		compressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
+		decompress(data: Uint8Array | ArrayBuffer): any;
+		decompressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
+		encode(data: any): Uint8Array | ArrayBuffer;
+		decode(data: Uint8Array | ArrayBuffer): any;
+	}
+
+	const uzip: UZIP;
+	export default uzip;
+}

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

@@ -1,4 +1,4 @@
-export function daisyColor(name: string, opacity: number = 100) {
+export const daisyColor = (name: string, opacity: number = 100) => {
 	const color = getComputedStyle(document.documentElement).getPropertyValue(name);
 	return `oklch(${color} / ${opacity}%)`;
-}
+};

app/src/lib/utilities/index.ts

@@ -4,4 +4,6 @@ export * from './svelte-utilities';
 export * from './math-utilities';
 export * from './buffer-utilities';
 export * from './model-utilities';
-export * from './location-utilities';
+export * from './position-utilities';
+export * from './string-utilities';
+export * from './color-utilities';

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

@@ -1,9 +0,0 @@
-export const hostname = 'localhost'; //window.location.hostname;
-
-export const isSecure = true; // window.location.protocol === 'https:';
-
-export const location = 'localhost:5173'; //window.location; //import.meta.env.VITE_API_URL.replace('hostname', hostname);
-
-const socketScheme = isSecure ? 'wss://' : 'ws://';
-
-export const socketLocation = socketScheme + location; // import.meta.env.VITE_SOCKET_URL.replace('hostname', hostname);

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

@@ -1,63 +1,92 @@
-import { Color, LoaderUtils, Vector3 } from 'three';
+import { Color, LoaderUtils, Vector3 } from 'three'
-import URDFLoader, { type URDFRobot } from 'urdf-loader';
+import URDFLoader, { type URDFRobot } from 'urdf-loader'
-import { XacroLoader } from 'xacro-parser';
+import { XacroLoader } from 'xacro-parser'
-import { Result } from '$lib/utilities';
+import { Result } from '$lib/utilities'
+import { jointNames, model } from '$lib/stores'
+import uzip from 'uzip'
+import { fileService } from '$lib/services'
 
-let model_xml: XMLDocument;
+let model_xml: XMLDocument
 
-export const loadModelAsync = async (
+export const populateModelCache = async () => {
-	url: string
+  await cacheModelFiles()
-): Promise<Result<[URDFRobot, string[]], string>> => {
+  const modelRes = await loadModel('/yertle.URDF')
-	return new Promise((resolve, reject) => {
+  if (modelRes.isOk()) {
-		const xacroLoader = new XacroLoader();
+    const [urdf, JOINT_NAME] = modelRes.inner
-		const urdfLoader = new URDFLoader();
+    jointNames.set(JOINT_NAME)
-		urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
+    model.set(urdf)
+  } else {
+    console.error(modelRes.inner, { exception: modelRes.exception })
+  }
+}
 
-		xacroLoader.load(
+export const cacheModelFiles = async () => {
-			url,
+  const data = await fetch('/URDF.zip')
-			async (xml) => {
+
-				model_xml = xml;
+  const files = uzip.parse(await data.arrayBuffer())
+
+  for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
+    const url = new URL(path, window.location.href)
+    fileService?.saveFile(url.toString(), data)
+  }
+}
+
+export const loadModel = async (url: string): Promise<Result<[URDFRobot, string[]], string>> => {
+  const urdfLoader = new URDFLoader()
+  urdfLoader.workingPath = LoaderUtils.extractUrlBase(url)
+
+  let xml = url.endsWith('.xacro') ? await loadXacro(url) : await fetch(url).then(res => res.text())
+
+  if (typeof xml === 'string') {
+    xml = new window.DOMParser().parseFromString(xml, 'text/xml')
+  }
+
+  return new Promise(resolve => {
+    model_xml = xml
     try {
-					const model = urdfLoader.parse(xml);
+      const model = urdfLoader.parse(xml)
-					model.rotation.x = -Math.PI / 2;
+      setupRobot(model)
-					model.rotation.z = Math.PI / 2;
-					model.traverse((c) => (c.castShadow = true));
-					model.updateMatrixWorld(true);
-					model.scale.setScalar(10);
       const joints = Object.entries(model.joints)
-						.filter((joint) => joint[1].jointType !== 'fixed')
+        .filter(joint => joint[1].jointType !== 'fixed')
-						.map((joint) => joint[0]);
+        .map(joint => joint[0])
 
-					resolve(Result.ok([model, joints]));
+      resolve(Result.ok([model, joints]))
     } catch (error) {
-					resolve(Result.err('Failed to load model', error));
+      resolve(Result.err('Failed to load model', error))
     }
-			},
+  })
-			(error) => resolve(Result.err('Failed to load model', error))
-		);
-	});
-};
-
-export const toeWorldPositions = (robot: URDFRobot) => {
-	const toe_positions: Vector3[] = [];
-	robot.traverse((child) => {
-		if (child.name.includes('toe') && !child.name.includes('_link')) {
-			const worldPosition = new Vector3();
-			child.getWorldPosition(worldPosition);
-			toe_positions.push(worldPosition);
 }
-	});
-	return toe_positions;
-};
 
-export const footColor = () => {
+const loadXacro = async (url: string): Promise<XMLDocument> =>
-	const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element;
+  new Promise((resolve, reject) => {
-	const colorAttrStr = colorElem.getAttribute('rgba') as string;
+    new XacroLoader().load(url, resolve, reject)
+  })
+
+function setupRobot(robot: URDFRobot) {
+  robot.rotation.x = -Math.PI / 2
+  robot.rotation.z = Math.PI / 2
+  robot.scale.setScalar(10)
+  robot.traverse(c => (c.castShadow = true))
+  robot.updateMatrixWorld(true)
+}
+
+export function getToeWorldPositions(robot: URDFRobot): Vector3[] {
+  const toes: Vector3[] = []
+  robot.traverse(c => {
+    if (c.name.includes('toe') && !c.name.includes('_link'))
+      toes.push(c.getWorldPosition(new Vector3()))
+  })
+  return toes
+}
+
+export const extractFootColor = () => {
+  const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element
+  const colorAttrStr = colorElem.getAttribute('rgba') as string
   const colorStr = colorAttrStr
     .split(' ')
     .slice(0, 3)
-		.map((val) => Math.floor(+val * 255))
+    .map(val => Math.floor(+val * 255))
-		.join(', ');
+    .join(', ')
 
-	return new Color(`rgb(${colorStr})`);
+  return new Color(`rgb(${colorStr})`)
-};
+}

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

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

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

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

app/src/routes/+layout.svelte

@@ -1,35 +1,45 @@
 <script lang="ts">
     import { onDestroy, onMount } from 'svelte';
-	import { user } from '$lib/stores/user';
+    import { page } from '$app/state';
-	import { telemetry } from '$lib/stores/telemetry';
+    import { Modals, modals } from 'svelte-modals';
-	import { analytics } from '$lib/stores/analytics';
-	import type { userProfile } from '$lib/stores/user';
-	import { page } from '$app/stores';
-	import { Modals, closeModal } from 'svelte-modals';
     import Toast from '$lib/components/toasts/Toast.svelte';
     import { notifications } from '$lib/components/toasts/notifications';
     import { fade } from 'svelte/transition';
     import '../app.css';
-	import Menu from './menu.svelte';
+    import Menu from '../lib/components/menu/Menu.svelte';
-	import Statusbar from './statusbar.svelte';
+    import Statusbar from '../lib/components/statusbar/statusbar.svelte';
-	import Login from './login.svelte';
+    import {
-	import { ModesEnum, kinematicData, mode, outControllerData, servoAngles, servoAnglesOut, socket } from '$lib/stores';
+        telemetry,
-	import type { Analytics, Battery, DownloadOTA } from '$lib/types/models';
+        analytics,
-	import { api } from '$lib/api';
+        ModesEnum,
+        kinematicData,
+        mode,
+        outControllerData,
+        servoAngles,
+        servoAnglesOut,
+        socket,
+        location,
+        useFeatureFlags
+    } from '$lib/stores';
+    import type { Analytics, DownloadOTA } from '$lib/types/models';
+    interface Props {
+        children?: import('svelte').Snippet;
+    }
+
+    let { children }: Props = $props();
+
+    const features = useFeatureFlags();
 
     onMount(async () => {
-		if ($user.bearer_token !== '') {
+        const ws = $location ? $location : window.location.host;
-			await validateUser($user);
+        socket.init(`ws://${ws}/api/ws/events`);
-		}
-        const ws_token = $page.data.features.security ? '?access_token=' + $user.bearer_token : '';
-		socket.init(`ws://${window.location.host}/ws/events${ws_token}`);
 
         addEventListeners();
 
-        outControllerData.subscribe((data) => socket.sendEvent("input", {data}));
+        outControllerData.subscribe(data => socket.sendEvent('input', { data }));
-        mode.subscribe((data) => socket.sendEvent("mode", {data}));
+        mode.subscribe(data => socket.sendEvent('mode', { data }));
-        servoAnglesOut.subscribe((data) => socket.sendEvent("angles", {data}));
+        servoAnglesOut.subscribe(data => socket.sendEvent('angles', { data }));
-        kinematicData.subscribe((data) => socket.sendEvent("position", {data}));
+        kinematicData.subscribe(data => socket.sendEvent('position', { data }));
     });
 
     onDestroy(() => {
@@ -42,11 +52,14 @@
         socket.on('error', handleError);
         socket.on('rssi', handleNetworkStatus);
         socket.on('mode', (data: ModesEnum) => mode.set(data));
-		socket.on('angles', (angles:number[]) => { if (angles.length) servoAngles.set(angles)});
+        socket.on('analytics', handleAnalytics);
-		if ($page.data.features.analytics) socket.on('analytics', handleAnalytics);
+        socket.on('angles', (angles: number[]) => {
-		if ($page.data.features.battery) socket.on('battery', handleBattery);
+            if (angles.length) servoAngles.set(angles);
-		if ($page.data.features.download_firmware) socket.on('otastatus', handleOAT);
+        });
-        if ($page.data.features.sonar) socket.on('sonar', data => console.log(data))
+        features.subscribe(data => {
+            if (data?.download_firmware) socket.on('otastatus', handleOAT);
+            if (data?.sonar) socket.on('sonar', data => console.log(data));
+        });
     };
 
     const removeEventListeners = () => {
@@ -54,18 +67,9 @@
         socket.off('open', handleOpen);
         socket.off('close', handleClose);
         socket.off('rssi', handleNetworkStatus);
-		socket.off('battery', handleBattery);
         socket.off('otastatus', handleOAT);
     };
 
-    async function validateUser(userdata: userProfile) {
-        const result = await api.get('/api/verifyAuthorization')
-        if (result.isErr()){
-            user.invalidate();
-            console.error('Error:', result.inner);
-        }
-	}
-
     const handleOpen = () => {
         notifications.success('Connection to device established', 5000);
     };
@@ -81,21 +85,15 @@
 
     const handleNetworkStatus = (data: number) => telemetry.setRSSI(data);
 
-	const handleBattery = (data: Battery) => telemetry.setBattery(data);
-
     const handleOAT = (data: DownloadOTA) => telemetry.setDownloadOTA(data);
 
-	let menuOpen = false;
+    let menuOpen = $state(false);
-
 </script>
 
 <svelte:head>
-	<title>{$page.data.title}</title>
+    <title>{page.data.title}</title>
 </svelte:head>
 
-{#if $page.data.features.security && $user.bearer_token === ''}
-	<Login />
-{:else}
 <div class="drawer">
     <input id="main-menu" type="checkbox" class="drawer-toggle" bind:checked={menuOpen} />
     <div class="drawer-content flex flex-col">
@@ -103,27 +101,25 @@
         <Statusbar />
 
         <!-- Main page content here -->
-            <slot />
+        {@render children?.()}
     </div>
     <!-- Side Navigation -->
     <div class="drawer-side z-30 shadow-lg">
-			<label for="main-menu" class="drawer-overlay" />
+        <label for="main-menu" class="drawer-overlay"></label>
-			<Menu
+        <Menu menuClicked={() => (menuOpen = false)} />
-				on:menuClicked={() => menuOpen = false}
-			/>
     </div>
 </div>
-{/if}
 
 <Modals>
-	<!-- svelte-ignore a11y-click-events-have-key-events -->
+    <!-- svelte-ignore a11y_click_events_have_key_events -->
-	<!-- svelte-ignore a11y-no-static-element-interactions -->
+    <!-- svelte-ignore a11y_no_static_element_interactions -->
+    {#snippet backdrop()}
         <div
-		slot="backdrop"
+            class="fixed inset-0 z-40 max-h-full max-w-full bg-black/20 backdrop-blur-sm"
-		class="fixed inset-0 z-40 max-h-full max-w-full bg-black/20 backdrop-blur"
             transition:fade
-		on:click={closeModal}
+            onclick={modals.closeAll}
-	/>
+        ></div>
+    {/snippet}
 </Modals>
 
 <Toast />

app/src/routes/+layout.ts

@@ -1,7 +1,4 @@
-import { jointNames, model } from '$lib/stores';
+export const prerender = false;
-import { loadModelAsync } from '$lib/utilities/model-utilities';
-
-export const prerender = true;
 export const ssr = false;
 
 const registerFetchIntercept = async () => {
@@ -14,24 +11,9 @@ const registerFetchIntercept = async () => {
 	};
 };
 
-const loadModelFiles = async () => {
+export const load = async () => {
-	const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
-	if (modelRes.isOk()) {
-		const [urdf, JOINT_NAME] = modelRes.inner;
-		jointNames.set(JOINT_NAME);
-		model.set(urdf);
-	} else {
-		console.error(modelRes.inner, { exception: modelRes.exception });
-	}
-};
-
-export const load = async ({ fetch }) => {
 	await registerFetchIntercept();
-	await loadModelFiles();
-	const result = await fetch('/api/features');
-	const features = await result.json();
 	return {
-		features,
 		title: 'Spot micro controller',
 		github: 'runeharlyk/SpotMicroESP32-Leika',
 		app_name: 'Spot Micro Controller',

app/src/routes/+page.svelte

@@ -1,9 +1,16 @@
 <script lang="ts">
-	import type { PageData } from './$types';
+  import { goto } from '$app/navigation'
-	import { notifications } from '$lib/components/toasts/notifications';
+  import Visualization from '$lib/components/Visualization.svelte'
-	import Visualization from '$lib/components/Visualization.svelte';
+  import { socket } from '$lib/stores'
+  import { onMount } from 'svelte'
 
-	export let data: PageData;
+  onMount(() => {
+    socket.subscribe(isConnected => {
+      if (isConnected) {
+        goto('/controller')
+      }
+    })
+  })
 </script>
 
 <div class="hero bg-base-100 h-screen">
@@ -12,13 +19,9 @@
       <Visualization sky={false} orbit panel={false} ground={false} />
     </div>
     <div class="card-body w-80">
-			<h2 class="card-title text-center text-2xl">Welcome to {data.app_name}</h2>
+      <h2 class="card-title text-center text-2xl">Begin you journey</h2>
       <p class="py-6 text-center"></p>
-			<a
+      <a class="btn btn-primary" href={$socket ? '/controller' : '/connection'}> Add Robot Dog </a>
-				class="btn btn-primary"
-				href="/controller"
-				on:click={() => notifications.success('You did it!', 1000)}>Begin</a
-			>
     </div>
   </div>
 </div>

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

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

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

@@ -2,6 +2,6 @@ import type { PageLoad } from './$types';
 
 export const load = (async () => {
 	return {
-		title: 'NTP'
+		title: 'Connection'
 	};
 }) satisfies PageLoad;

app/src/routes/connection/Connection.svelte

@@ -0,0 +1,28 @@
+<script lang="ts">
+    import SettingsCard from '$lib/components/SettingsCard.svelte';
+    import { WiFi } from '$lib/components/icons';
+    import { location, socket, useFeatureFlags } from '$lib/stores';
+
+    const features = useFeatureFlags();
+
+    const update = () => {
+        const ws = $location ? $location : window.location.host;
+        socket.init(`ws://${ws}/api/ws/events`);
+    };
+</script>
+
+<SettingsCard collapsible={false}>
+    {#snippet icon()}
+        <WiFi  class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+    {/snippet}
+    {#snippet title()}
+        <span >Connection</span>
+    {/snippet}
+
+    <div class="flex">
+        <label class="label w-32" for="server">Address:</label>
+        <input class="input" bind:value={$location} />
+    </div>
+
+    <button class="btn btn-primary" onclick={update}>Update</button>
+</SettingsCard>

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

@@ -1,7 +0,0 @@
-import type { PageLoad } from './$types';
-import { goto } from '$app/navigation';
-
-export const load = (async () => {
-	goto('/');
-	return;
-}) satisfies PageLoad;

app/src/routes/connections/ntp/NTP.svelte

@@ -1,263 +0,0 @@
-<script lang="ts">
-	import { onMount, onDestroy } from 'svelte';
-	import { slide } from 'svelte/transition';
-	import { cubicOut } from 'svelte/easing';
-	import SettingsCard from '$lib/components/SettingsCard.svelte';
-	import Collapsible from '$lib/components/Collapsible.svelte';
-	import Spinner from '$lib/components/Spinner.svelte';
-	import { user } from '$lib/stores/user';
-	import { page } from '$app/stores';
-	import { notifications } from '$lib/components/toasts/notifications';
-	import { TIME_ZONES } from './timezones';
-	import NTP from '~icons/tabler/clock-check';
-	import Server from '~icons/tabler/server';
-	import Clock from '~icons/tabler/clock';
-	import UTC from '~icons/tabler/clock-pin';
-	import Stopwatch from '~icons/tabler/24-hours';
-	import type { NTPSettings, NTPStatus } from '$lib/types/models';
-	import { api } from '$lib/api';
-
-	let ntpSettings: NTPSettings;
-	let ntpStatus: NTPStatus;
-
-	async function getNTPStatus() {
-        const result = await api.get<NTPStatus>('/api/ntpStatus');
-        if (result.isErr()){
-            console.error('Error:', result.inner);
-            return
-        }
-        ntpStatus = result.inner
-	}
-
-	async function getNTPSettings() {
-        const result = await api.get<NTPSettings>('/api/ntpSettings');
-        if (result.isErr()){
-            console.error('Error:', result.inner);
-            return
-        }
-        ntpSettings = result.inner
-	}
-
-	const interval = setInterval(async () => {
-		getNTPStatus();
-	}, 5000);
-
-	onDestroy(() => clearInterval(interval));
-
-	onMount(() => {
-		if (!$page.data.features.security || $user.admin) {
-			getNTPSettings();
-		}
-	});
-
-	let formField: any;
-
-	let formErrors = {
-		server: false
-	};
-
-	async function postNTPSettings(data: NTPSettings) {
-        const result = await api.post<NTPSettings>('/api/ntpSettings', data);
-        if (result.isErr()){
-            notifications.error('User not authorized.', 3000);
-            console.error('Error:', result.inner);
-            return
-        }
-        ntpSettings = result.inner
-	}
-
-	function handleSubmitNTP() {
-		let valid = true;
-
-		// Validate Server
-		// RegEx for IPv4
-		const regexExpIPv4 =
-			/\b(?:(?:2(?:[0-4][0-9]|5[0-5])|[0-1]?[0-9]?[0-9])\.){3}(?:(?:2([0-4][0-9]|5[0-5])|[0-1]?[0-9]?[0-9]))\b/;
-		const regexExpURL =
-			/[-a-zA-Z0-9@:%_\+.~#?&//=]{2,256}\.[a-z]{2,4}\b(\/[-a-zA-Z0-9@:%_\+.~#?&//=]*)?/i;
-
-		if (!regexExpURL.test(ntpSettings.server) && !regexExpIPv4.test(ntpSettings.server)) {
-			valid = false;
-			formErrors.server = true;
-		} else {
-			formErrors.server = false;
-		}
-
-		ntpSettings.tz_format = TIME_ZONES[ntpSettings.tz_label];
-
-		// Submit JSON to REST API
-		if (valid) {
-			postNTPSettings(ntpSettings);
-			//alert('Form Valid');
-		}
-	}
-
-	function convertSeconds(seconds: number) {
-		// Calculate the number of seconds, minutes, hours, and days
-		let minutes = Math.floor(seconds / 60);
-		let hours = Math.floor(minutes / 60);
-		let days = Math.floor(hours / 24);
-
-		// Calculate the remaining hours, minutes, and seconds
-		hours = hours % 24;
-		minutes = minutes % 60;
-		seconds = seconds % 60;
-
-		// Create the formatted string
-		let result = '';
-		if (days > 0) {
-			result += days + ' day' + (days > 1 ? 's' : '') + ' ';
-		}
-		if (hours > 0) {
-			result += hours + ' hour' + (hours > 1 ? 's' : '') + ' ';
-		}
-		if (minutes > 0) {
-			result += minutes + ' minute' + (minutes > 1 ? 's' : '') + ' ';
-		}
-		result += seconds + ' second' + (seconds > 1 ? 's' : '');
-
-		return result;
-	}
-</script>
-
-<SettingsCard collapsible={false}>
-	<Clock slot="icon" class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
-	<span slot="title">Network Time</span>
-	<div class="w-full overflow-x-auto">
-		{#await getNTPStatus()}
-			<Spinner />
-		{:then nothing}
-			<div
-				class="flex w-full flex-col space-y-1"
-				transition:slide|local={{ duration: 300, easing: cubicOut }}
-			>
-				<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2">
-					<div
-						class="mask mask-hexagon h-auto w-10 {ntpStatus.status === 1
-							? 'bg-success'
-							: 'bg-error'}"
-					>
-						<NTP
-							class="h-auto w-full scale-75 {ntpStatus.status === 1
-								? 'text-success-content'
-								: 'text-error-content'}"
-						/>
-					</div>
-					<div>
-						<div class="font-bold">Status</div>
-						<div class="text-sm opacity-75">
-							{ntpStatus.status === 1 ? 'Active' : 'Inactive'}
-						</div>
-					</div>
-				</div>
-
-				<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2">
-					<div class="mask mask-hexagon bg-primary h-auto w-10">
-						<Server class="text-primary-content h-auto w-full scale-75" />
-					</div>
-					<div>
-						<div class="font-bold">NTP Server</div>
-						<div class="text-sm opacity-75">
-							{ntpStatus.server}
-						</div>
-					</div>
-				</div>
-
-				<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2">
-					<div class="mask mask-hexagon bg-primary h-auto w-10">
-						<Clock class="text-primary-content h-auto w-full scale-75" />
-					</div>
-					<div>
-						<div class="font-bold">Local Time</div>
-						<div class="text-sm opacity-75">
-							{new Intl.DateTimeFormat('en-GB', {
-								dateStyle: 'long',
-								timeStyle: 'long'
-							}).format(new Date(ntpStatus.local_time))}
-						</div>
-					</div>
-				</div>
-
-				<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2">
-					<div class="mask mask-hexagon bg-primary h-auto w-10">
-						<UTC class="text-primary-content h-auto w-full scale-75" />
-					</div>
-					<div>
-						<div class="font-bold">UTC Time</div>
-						<div class="text-sm opacity-75">
-							{new Intl.DateTimeFormat('en-GB', {
-								dateStyle: 'long',
-								timeStyle: 'long',
-								timeZone: 'UTC'
-							}).format(new Date(ntpStatus.utc_time))}
-						</div>
-					</div>
-				</div>
-
-				<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2">
-					<div class="mask mask-hexagon bg-primary h-auto w-10">
-						<Stopwatch class="text-primary-content h-auto w-full scale-75" />
-					</div>
-					<div>
-						<div class="font-bold">Uptime</div>
-						<div class="text-sm opacity-75">
-							{convertSeconds(ntpStatus.uptime)}
-						</div>
-					</div>
-				</div>
-			</div>
-		{/await}
-	</div>
-
-	{#if !$page.data.features.security || $user.admin}
-		<Collapsible open={false} on:closed={getNTPSettings}>
-			<span slot="title">Change NTP Settings</span>
-			<form
-				class="form-control w-full"
-				on:submit|preventDefault={handleSubmitNTP}
-				novalidate
-				bind:this={formField}
-			>
-				<label class="label cursor-pointer justify-start gap-4">
-					<input
-						type="checkbox"
-						bind:checked={ntpSettings.enabled}
-						class="checkbox checkbox-primary"
-					/>
-					<span class="">Enable NTP</span>
-				</label>
-				<label class="label" for="server">
-					<span class="label-text text-md">Server</span>
-				</label>
-				<input
-					type="text"
-					min="3"
-					max="64"
-					class="input input-bordered invalid:border-error w-full invalid:border-2 {formErrors.server
-						? 'border-error border-2'
-						: ''}"
-					bind:value={ntpSettings.server}
-					id="server"
-					required
-				/>
-				<label class="label" for="subnet">
-					<span class="label-text-alt text-error {formErrors.server ? '' : 'hidden'}"
-						>Must be a valid IPv4 address or URL</span
-					>
-				</label>
-				<label class="label" for="tz">
-					<span class="label-text text-md">Pick Time Zone</span>
-				</label>
-				<select class="select select-bordered" bind:value={ntpSettings.tz_label} id="tz">
-					{#each Object.entries(TIME_ZONES) as [tz_label, tz_format]}
-						<option value={tz_label}>{tz_label}</option>
-					{/each}
-				</select>
-
-				<div class="mt-6 place-self-end">
-					<button class="btn btn-primary" type="submit">Apply Settings</button>
-				</div>
-			</form>
-		</Collapsible>
-	{/if}
-</SettingsCard>

app/src/routes/connections/ntp/timezones.ts

@@ -1,466 +0,0 @@
-export type TimeZones = {
-    [name: string]: string
-  };
-  
-export const TIME_ZONES: TimeZones = {
-    "Africa/Abidjan": "GMT0",
-    "Africa/Accra": "GMT0",
-    "Africa/Addis_Ababa": "EAT-3",
-    "Africa/Algiers": "CET-1",
-    "Africa/Asmara": "EAT-3",
-    "Africa/Bamako": "GMT0",
-    "Africa/Bangui": "WAT-1",
-    "Africa/Banjul": "GMT0",
-    "Africa/Bissau": "GMT0",
-    "Africa/Blantyre": "CAT-2",
-    "Africa/Brazzaville": "WAT-1",
-    "Africa/Bujumbura": "CAT-2",
-    "Africa/Cairo": "EET-2",
-    "Africa/Casablanca": "UNK-1",
-    "Africa/Ceuta": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Africa/Conakry": "GMT0",
-    "Africa/Dakar": "GMT0",
-    "Africa/Dar_es_Salaam": "EAT-3",
-    "Africa/Djibouti": "EAT-3",
-    "Africa/Douala": "WAT-1",
-    "Africa/El_Aaiun": "UNK-1",
-    "Africa/Freetown": "GMT0",
-    "Africa/Gaborone": "CAT-2",
-    "Africa/Harare": "CAT-2",
-    "Africa/Johannesburg": "SAST-2",
-    "Africa/Juba": "EAT-3",
-    "Africa/Kampala": "EAT-3",
-    "Africa/Khartoum": "CAT-2",
-    "Africa/Kigali": "CAT-2",
-    "Africa/Kinshasa": "WAT-1",
-    "Africa/Lagos": "WAT-1",
-    "Africa/Libreville": "WAT-1",
-    "Africa/Lome": "GMT0",
-    "Africa/Luanda": "WAT-1",
-    "Africa/Lubumbashi": "CAT-2",
-    "Africa/Lusaka": "CAT-2",
-    "Africa/Malabo": "WAT-1",
-    "Africa/Maputo": "CAT-2",
-    "Africa/Maseru": "SAST-2",
-    "Africa/Mbabane": "SAST-2",
-    "Africa/Mogadishu": "EAT-3",
-    "Africa/Monrovia": "GMT0",
-    "Africa/Nairobi": "EAT-3",
-    "Africa/Ndjamena": "WAT-1",
-    "Africa/Niamey": "WAT-1",
-    "Africa/Nouakchott": "GMT0",
-    "Africa/Ouagadougou": "GMT0",
-    "Africa/Porto-Novo": "WAT-1",
-    "Africa/Sao_Tome": "GMT0",
-    "Africa/Tripoli": "EET-2",
-    "Africa/Tunis": "CET-1",
-    "Africa/Windhoek": "CAT-2",
-    "America/Adak": "HST10HDT,M3.2.0,M11.1.0",
-    "America/Anchorage": "AKST9AKDT,M3.2.0,M11.1.0",
-    "America/Anguilla": "AST4",
-    "America/Antigua": "AST4",
-    "America/Araguaina": "UNK3",
-    "America/Argentina/Buenos_Aires": "UNK3",
-    "America/Argentina/Catamarca": "UNK3",
-    "America/Argentina/Cordoba": "UNK3",
-    "America/Argentina/Jujuy": "UNK3",
-    "America/Argentina/La_Rioja": "UNK3",
-    "America/Argentina/Mendoza": "UNK3",
-    "America/Argentina/Rio_Gallegos": "UNK3",
-    "America/Argentina/Salta": "UNK3",
-    "America/Argentina/San_Juan": "UNK3",
-    "America/Argentina/San_Luis": "UNK3",
-    "America/Argentina/Tucuman": "UNK3",
-    "America/Argentina/Ushuaia": "UNK3",
-    "America/Aruba": "AST4",
-    "America/Asuncion": "UNK4UNK,M10.1.0/0,M3.4.0/0",
-    "America/Atikokan": "EST5",
-    "America/Bahia": "UNK3",
-    "America/Bahia_Banderas": "CST6CDT,M4.1.0,M10.5.0",
-    "America/Barbados": "AST4",
-    "America/Belem": "UNK3",
-    "America/Belize": "CST6",
-    "America/Blanc-Sablon": "AST4",
-    "America/Boa_Vista": "UNK4",
-    "America/Bogota": "UNK5",
-    "America/Boise": "MST7MDT,M3.2.0,M11.1.0",
-    "America/Cambridge_Bay": "MST7MDT,M3.2.0,M11.1.0",
-    "America/Campo_Grande": "UNK4",
-    "America/Cancun": "EST5",
-    "America/Caracas": "UNK4",
-    "America/Cayenne": "UNK3",
-    "America/Cayman": "EST5",
-    "America/Chicago": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Chihuahua": "MST7MDT,M4.1.0,M10.5.0",
-    "America/Costa_Rica": "CST6",
-    "America/Creston": "MST7",
-    "America/Cuiaba": "UNK4",
-    "America/Curacao": "AST4",
-    "America/Danmarkshavn": "GMT0",
-    "America/Dawson": "MST7",
-    "America/Dawson_Creek": "MST7",
-    "America/Denver": "MST7MDT,M3.2.0,M11.1.0",
-    "America/Detroit": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Dominica": "AST4",
-    "America/Edmonton": "MST7MDT,M3.2.0,M11.1.0",
-    "America/Eirunepe": "UNK5",
-    "America/El_Salvador": "CST6",
-    "America/Fort_Nelson": "MST7",
-    "America/Fortaleza": "UNK3",
-    "America/Glace_Bay": "AST4ADT,M3.2.0,M11.1.0",
-    "America/Godthab": "UNK3UNK,M3.5.0/-2,M10.5.0/-1",
-    "America/Goose_Bay": "AST4ADT,M3.2.0,M11.1.0",
-    "America/Grand_Turk": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Grenada": "AST4",
-    "America/Guadeloupe": "AST4",
-    "America/Guatemala": "CST6",
-    "America/Guayaquil": "UNK5",
-    "America/Guyana": "UNK4",
-    "America/Halifax": "AST4ADT,M3.2.0,M11.1.0",
-    "America/Havana": "CST5CDT,M3.2.0/0,M11.1.0/1",
-    "America/Hermosillo": "MST7",
-    "America/Indiana/Indianapolis": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Indiana/Knox": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Indiana/Marengo": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Indiana/Petersburg": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Indiana/Tell_City": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Indiana/Vevay": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Indiana/Vincennes": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Indiana/Winamac": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Inuvik": "MST7MDT,M3.2.0,M11.1.0",
-    "America/Iqaluit": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Jamaica": "EST5",
-    "America/Juneau": "AKST9AKDT,M3.2.0,M11.1.0",
-    "America/Kentucky/Louisville": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Kentucky/Monticello": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Kralendijk": "AST4",
-    "America/La_Paz": "UNK4",
-    "America/Lima": "UNK5",
-    "America/Los_Angeles": "PST8PDT,M3.2.0,M11.1.0",
-    "America/Lower_Princes": "AST4",
-    "America/Maceio": "UNK3",
-    "America/Managua": "CST6",
-    "America/Manaus": "UNK4",
-    "America/Marigot": "AST4",
-    "America/Martinique": "AST4",
-    "America/Matamoros": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Mazatlan": "MST7MDT,M4.1.0,M10.5.0",
-    "America/Menominee": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Merida": "CST6CDT,M4.1.0,M10.5.0",
-    "America/Metlakatla": "AKST9AKDT,M3.2.0,M11.1.0",
-    "America/Mexico_City": "CST6CDT,M4.1.0,M10.5.0",
-    "America/Miquelon": "UNK3UNK,M3.2.0,M11.1.0",
-    "America/Moncton": "AST4ADT,M3.2.0,M11.1.0",
-    "America/Monterrey": "CST6CDT,M4.1.0,M10.5.0",
-    "America/Montevideo": "UNK3",
-    "America/Montreal": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Montserrat": "AST4",
-    "America/Nassau": "EST5EDT,M3.2.0,M11.1.0",
-    "America/New_York": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Nipigon": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Nome": "AKST9AKDT,M3.2.0,M11.1.0",
-    "America/Noronha": "UNK2",
-    "America/North_Dakota/Beulah": "CST6CDT,M3.2.0,M11.1.0",
-    "America/North_Dakota/Center": "CST6CDT,M3.2.0,M11.1.0",
-    "America/North_Dakota/New_Salem": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Ojinaga": "MST7MDT,M3.2.0,M11.1.0",
-    "America/Panama": "EST5",
-    "America/Pangnirtung": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Paramaribo": "UNK3",
-    "America/Phoenix": "MST7",
-    "America/Port-au-Prince": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Port_of_Spain": "AST4",
-    "America/Porto_Velho": "UNK4",
-    "America/Puerto_Rico": "AST4",
-    "America/Punta_Arenas": "UNK3",
-    "America/Rainy_River": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Rankin_Inlet": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Recife": "UNK3",
-    "America/Regina": "CST6",
-    "America/Resolute": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Rio_Branco": "UNK5",
-    "America/Santarem": "UNK3",
-    "America/Santiago": "UNK4UNK,M9.1.6/24,M4.1.6/24",
-    "America/Santo_Domingo": "AST4",
-    "America/Sao_Paulo": "UNK3",
-    "America/Scoresbysund": "UNK1UNK,M3.5.0/0,M10.5.0/1",
-    "America/Sitka": "AKST9AKDT,M3.2.0,M11.1.0",
-    "America/St_Barthelemy": "AST4",
-    "America/St_Johns": "NST3:30NDT,M3.2.0,M11.1.0",
-    "America/St_Kitts": "AST4",
-    "America/St_Lucia": "AST4",
-    "America/St_Thomas": "AST4",
-    "America/St_Vincent": "AST4",
-    "America/Swift_Current": "CST6",
-    "America/Tegucigalpa": "CST6",
-    "America/Thule": "AST4ADT,M3.2.0,M11.1.0",
-    "America/Thunder_Bay": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Tijuana": "PST8PDT,M3.2.0,M11.1.0",
-    "America/Toronto": "EST5EDT,M3.2.0,M11.1.0",
-    "America/Tortola": "AST4",
-    "America/Vancouver": "PST8PDT,M3.2.0,M11.1.0",
-    "America/Whitehorse": "MST7",
-    "America/Winnipeg": "CST6CDT,M3.2.0,M11.1.0",
-    "America/Yakutat": "AKST9AKDT,M3.2.0,M11.1.0",
-    "America/Yellowknife": "MST7MDT,M3.2.0,M11.1.0",
-    "Antarctica/Casey": "UNK-8",
-    "Antarctica/Davis": "UNK-7",
-    "Antarctica/DumontDUrville": "UNK-10",
-    "Antarctica/Macquarie": "UNK-11",
-    "Antarctica/Mawson": "UNK-5",
-    "Antarctica/McMurdo": "NZST-12NZDT,M9.5.0,M4.1.0/3",
-    "Antarctica/Palmer": "UNK3",
-    "Antarctica/Rothera": "UNK3",
-    "Antarctica/Syowa": "UNK-3",
-    "Antarctica/Troll": "UNK0UNK-2,M3.5.0/1,M10.5.0/3",
-    "Antarctica/Vostok": "UNK-6",
-    "Arctic/Longyearbyen": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Asia/Aden": "UNK-3",
-    "Asia/Almaty": "UNK-6",
-    "Asia/Amman": "EET-2EEST,M3.5.4/24,M10.5.5/1",
-    "Asia/Anadyr": "UNK-12",
-    "Asia/Aqtau": "UNK-5",
-    "Asia/Aqtobe": "UNK-5",
-    "Asia/Ashgabat": "UNK-5",
-    "Asia/Atyrau": "UNK-5",
-    "Asia/Baghdad": "UNK-3",
-    "Asia/Bahrain": "UNK-3",
-    "Asia/Baku": "UNK-4",
-    "Asia/Bangkok": "UNK-7",
-    "Asia/Barnaul": "UNK-7",
-    "Asia/Beirut": "EET-2EEST,M3.5.0/0,M10.5.0/0",
-    "Asia/Bishkek": "UNK-6",
-    "Asia/Brunei": "UNK-8",
-    "Asia/Chita": "UNK-9",
-    "Asia/Choibalsan": "UNK-8",
-    "Asia/Colombo": "UNK-5:30",
-    "Asia/Damascus": "EET-2EEST,M3.5.5/0,M10.5.5/0",
-    "Asia/Dhaka": "UNK-6",
-    "Asia/Dili": "UNK-9",
-    "Asia/Dubai": "UNK-4",
-    "Asia/Dushanbe": "UNK-5",
-    "Asia/Famagusta": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Asia/Gaza": "EET-2EEST,M3.5.5/0,M10.5.6/1",
-    "Asia/Hebron": "EET-2EEST,M3.5.5/0,M10.5.6/1",
-    "Asia/Ho_Chi_Minh": "UNK-7",
-    "Asia/Hong_Kong": "HKT-8",
-    "Asia/Hovd": "UNK-7",
-    "Asia/Irkutsk": "UNK-8",
-    "Asia/Jakarta": "WIB-7",
-    "Asia/Jayapura": "WIT-9",
-    "Asia/Jerusalem": "IST-2IDT,M3.4.4/26,M10.5.0",
-    "Asia/Kabul": "UNK-4:30",
-    "Asia/Kamchatka": "UNK-12",
-    "Asia/Karachi": "PKT-5",
-    "Asia/Kathmandu": "UNK-5:45",
-    "Asia/Khandyga": "UNK-9",
-    "Asia/Kolkata": "IST-5:30",
-    "Asia/Krasnoyarsk": "UNK-7",
-    "Asia/Kuala_Lumpur": "UNK-8",
-    "Asia/Kuching": "UNK-8",
-    "Asia/Kuwait": "UNK-3",
-    "Asia/Macau": "CST-8",
-    "Asia/Magadan": "UNK-11",
-    "Asia/Makassar": "WITA-8",
-    "Asia/Manila": "PST-8",
-    "Asia/Muscat": "UNK-4",
-    "Asia/Nicosia": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Asia/Novokuznetsk": "UNK-7",
-    "Asia/Novosibirsk": "UNK-7",
-    "Asia/Omsk": "UNK-6",
-    "Asia/Oral": "UNK-5",
-    "Asia/Phnom_Penh": "UNK-7",
-    "Asia/Pontianak": "WIB-7",
-    "Asia/Pyongyang": "KST-9",
-    "Asia/Qatar": "UNK-3",
-    "Asia/Qyzylorda": "UNK-5",
-    "Asia/Riyadh": "UNK-3",
-    "Asia/Sakhalin": "UNK-11",
-    "Asia/Samarkand": "UNK-5",
-    "Asia/Seoul": "KST-9",
-    "Asia/Shanghai": "CST-8",
-    "Asia/Singapore": "UNK-8",
-    "Asia/Srednekolymsk": "UNK-11",
-    "Asia/Taipei": "CST-8",
-    "Asia/Tashkent": "UNK-5",
-    "Asia/Tbilisi": "UNK-4",
-    "Asia/Tehran": "UNK-3:30UNK,J79/24,J263/24",
-    "Asia/Thimphu": "UNK-6",
-    "Asia/Tokyo": "JST-9",
-    "Asia/Tomsk": "UNK-7",
-    "Asia/Ulaanbaatar": "UNK-8",
-    "Asia/Urumqi": "UNK-6",
-    "Asia/Ust-Nera": "UNK-10",
-    "Asia/Vientiane": "UNK-7",
-    "Asia/Vladivostok": "UNK-10",
-    "Asia/Yakutsk": "UNK-9",
-    "Asia/Yangon": "UNK-6:30",
-    "Asia/Yekaterinburg": "UNK-5",
-    "Asia/Yerevan": "UNK-4",
-    "Atlantic/Azores": "UNK1UNK,M3.5.0/0,M10.5.0/1",
-    "Atlantic/Bermuda": "AST4ADT,M3.2.0,M11.1.0",
-    "Atlantic/Canary": "WET0WEST,M3.5.0/1,M10.5.0",
-    "Atlantic/Cape_Verde": "UNK1",
-    "Atlantic/Faroe": "WET0WEST,M3.5.0/1,M10.5.0",
-    "Atlantic/Madeira": "WET0WEST,M3.5.0/1,M10.5.0",
-    "Atlantic/Reykjavik": "GMT0",
-    "Atlantic/South_Georgia": "UNK2",
-    "Atlantic/St_Helena": "GMT0",
-    "Atlantic/Stanley": "UNK3",
-    "Australia/Adelaide": "ACST-9:30ACDT,M10.1.0,M4.1.0/3",
-    "Australia/Brisbane": "AEST-10",
-    "Australia/Broken_Hill": "ACST-9:30ACDT,M10.1.0,M4.1.0/3",
-    "Australia/Currie": "AEST-10AEDT,M10.1.0,M4.1.0/3",
-    "Australia/Darwin": "ACST-9:30",
-    "Australia/Eucla": "UNK-8:45",
-    "Australia/Hobart": "AEST-10AEDT,M10.1.0,M4.1.0/3",
-    "Australia/Lindeman": "AEST-10",
-    "Australia/Lord_Howe": "UNK-10:30UNK-11,M10.1.0,M4.1.0",
-    "Australia/Melbourne": "AEST-10AEDT,M10.1.0,M4.1.0/3",
-    "Australia/Perth": "AWST-8",
-    "Australia/Sydney": "AEST-10AEDT,M10.1.0,M4.1.0/3",
-    "Etc/GMT": "GMT0",
-    "Etc/GMT+0": "GMT0",
-    "Etc/GMT+1": "UNK1",
-    "Etc/GMT+10": "UNK10",
-    "Etc/GMT+11": "UNK11",
-    "Etc/GMT+12": "UNK12",
-    "Etc/GMT+2": "UNK2",
-    "Etc/GMT+3": "UNK3",
-    "Etc/GMT+4": "UNK4",
-    "Etc/GMT+5": "UNK5",
-    "Etc/GMT+6": "UNK6",
-    "Etc/GMT+7": "UNK7",
-    "Etc/GMT+8": "UNK8",
-    "Etc/GMT+9": "UNK9",
-    "Etc/GMT-0": "GMT0",
-    "Etc/GMT-1": "UNK-1",
-    "Etc/GMT-10": "UNK-10",
-    "Etc/GMT-11": "UNK-11",
-    "Etc/GMT-12": "UNK-12",
-    "Etc/GMT-13": "UNK-13",
-    "Etc/GMT-14": "UNK-14",
-    "Etc/GMT-2": "UNK-2",
-    "Etc/GMT-3": "UNK-3",
-    "Etc/GMT-4": "UNK-4",
-    "Etc/GMT-5": "UNK-5",
-    "Etc/GMT-6": "UNK-6",
-    "Etc/GMT-7": "UNK-7",
-    "Etc/GMT-8": "UNK-8",
-    "Etc/GMT-9": "UNK-9",
-    "Etc/GMT0": "GMT0",
-    "Etc/Greenwich": "GMT0",
-    "Etc/UCT": "UTC0",
-    "Etc/UTC": "UTC0",
-    "Etc/Universal": "UTC0",
-    "Etc/Zulu": "UTC0",
-    "Europe/Amsterdam": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Andorra": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Astrakhan": "UNK-4",
-    "Europe/Athens": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Belgrade": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Berlin": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Bratislava": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Brussels": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Bucharest": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Budapest": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Busingen": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Chisinau": "EET-2EEST,M3.5.0,M10.5.0/3",
-    "Europe/Copenhagen": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Dublin": "IST-1GMT0,M10.5.0,M3.5.0/1",
-    "Europe/Gibraltar": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Guernsey": "GMT0BST,M3.5.0/1,M10.5.0",
-    "Europe/Helsinki": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Isle_of_Man": "GMT0BST,M3.5.0/1,M10.5.0",
-    "Europe/Istanbul": "UNK-3",
-    "Europe/Jersey": "GMT0BST,M3.5.0/1,M10.5.0",
-    "Europe/Kaliningrad": "EET-2",
-    "Europe/Kiev": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Kirov": "UNK-3",
-    "Europe/Lisbon": "WET0WEST,M3.5.0/1,M10.5.0",
-    "Europe/Ljubljana": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/London": "GMT0BST,M3.5.0/1,M10.5.0",
-    "Europe/Luxembourg": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Madrid": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Malta": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Mariehamn": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Minsk": "UNK-3",
-    "Europe/Monaco": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Moscow": "MSK-3",
-    "Europe/Oslo": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Paris": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Podgorica": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Prague": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Riga": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Rome": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Samara": "UNK-4",
-    "Europe/San_Marino": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Sarajevo": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Saratov": "UNK-4",
-    "Europe/Simferopol": "MSK-3",
-    "Europe/Skopje": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Sofia": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Stockholm": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Tallinn": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Tirane": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Ulyanovsk": "UNK-4",
-    "Europe/Uzhgorod": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Vaduz": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Vatican": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Vienna": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Vilnius": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Volgograd": "UNK-4",
-    "Europe/Warsaw": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Zagreb": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Europe/Zaporozhye": "EET-2EEST,M3.5.0/3,M10.5.0/4",
-    "Europe/Zurich": "CET-1CEST,M3.5.0,M10.5.0/3",
-    "Indian/Antananarivo": "EAT-3",
-    "Indian/Chagos": "UNK-6",
-    "Indian/Christmas": "UNK-7",
-    "Indian/Cocos": "UNK-6:30",
-    "Indian/Comoro": "EAT-3",
-    "Indian/Kerguelen": "UNK-5",
-    "Indian/Mahe": "UNK-4",
-    "Indian/Maldives": "UNK-5",
-    "Indian/Mauritius": "UNK-4",
-    "Indian/Mayotte": "EAT-3",
-    "Indian/Reunion": "UNK-4",
-    "Pacific/Apia": "UNK-13UNK,M9.5.0/3,M4.1.0/4",
-    "Pacific/Auckland": "NZST-12NZDT,M9.5.0,M4.1.0/3",
-    "Pacific/Bougainville": "UNK-11",
-    "Pacific/Chatham": "UNK-12:45UNK,M9.5.0/2:45,M4.1.0/3:45",
-    "Pacific/Chuuk": "UNK-10",
-    "Pacific/Easter": "UNK6UNK,M9.1.6/22,M4.1.6/22",
-    "Pacific/Efate": "UNK-11",
-    "Pacific/Enderbury": "UNK-13",
-    "Pacific/Fakaofo": "UNK-13",
-    "Pacific/Fiji": "UNK-12UNK,M11.2.0,M1.2.3/99",
-    "Pacific/Funafuti": "UNK-12",
-    "Pacific/Galapagos": "UNK6",
-    "Pacific/Gambier": "UNK9",
-    "Pacific/Guadalcanal": "UNK-11",
-    "Pacific/Guam": "ChST-10",
-    "Pacific/Honolulu": "HST10",
-    "Pacific/Kiritimati": "UNK-14",
-    "Pacific/Kosrae": "UNK-11",
-    "Pacific/Kwajalein": "UNK-12",
-    "Pacific/Majuro": "UNK-12",
-    "Pacific/Marquesas": "UNK9:30",
-    "Pacific/Midway": "SST11",
-    "Pacific/Nauru": "UNK-12",
-    "Pacific/Niue": "UNK11",
-    "Pacific/Norfolk": "UNK-11UNK,M10.1.0,M4.1.0/3",
-    "Pacific/Noumea": "UNK-11",
-    "Pacific/Pago_Pago": "SST11",
-    "Pacific/Palau": "UNK-9",
-    "Pacific/Pitcairn": "UNK8",
-    "Pacific/Pohnpei": "UNK-11",
-    "Pacific/Port_Moresby": "UNK-10",
-    "Pacific/Rarotonga": "UNK10",
-    "Pacific/Saipan": "ChST-10",
-    "Pacific/Tahiti": "UNK10",
-    "Pacific/Tarawa": "UNK-12",
-    "Pacific/Tongatapu": "UNK-13",
-    "Pacific/Wake": "UNK-12",
-    "Pacific/Wallis": "UNK-12"
-  };

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

@@ -1,15 +0,0 @@
-<script lang="ts">
-	import Controls from './Controls.svelte';
-	import { socket } from '$lib/stores';
-	import Spinner from '$lib/components/Spinner.svelte';
-</script>
-<div class="select-none">
-    {#if !$socket}
-        <div class="absolute left-0 flex flex-col w-screen h-screen justify-center items-center backdrop-blur-sm z-10">
-            <Spinner/>
-            <h2>Waiting for connection</h2>
-        </div>
-    {/if}
-    <Controls />
-    <slot/>
-</div>

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

@@ -1,9 +1,31 @@
 <script lang="ts">
-    import Visualization from "$lib/components/Visualization.svelte";
+    import Controls from './Controls.svelte';
+    import WidgetContainer from '$lib/components/layout/WidgetContainer.svelte';
+    import { selectedView, views } from '$lib/stores/application';
+    import { onMount } from 'svelte';
+    import { mpu, socket } from '$lib/stores';
+    import { imu } from '$lib/stores/imu';
+    import type { IMU } from '$lib/types/models';
+
+    let layout = $derived($views.find(v => v.name === $selectedView)!);
+
+    onMount(() => {
+        socket.on('imu', (data: IMU) => {
+            imu.addData(data);
+            if (data.heading)
+                mpu.update(mpuData => {
+                    mpuData.heading = data.heading;
+                    console.log(data.heading);
+
+                    return mpuData;
+                });
+        });
+    });
 </script>
 
-<div class="grow flex">
+<div class="absolute top-0 select-none w-screen h-screen">
-    <div class="absolute h-screen w-full top-0">
+    <Controls />
-        <Visualization debug />
+    <div class="absolute w-full h-screen top-0 overflow-hidden lg:pt-16 pt-12">
+        <WidgetContainer container={layout.content} />
     </div>
 </div>

app/src/routes/controller/Controls.svelte

@@ -1,93 +1,113 @@
 <script lang="ts">
-	import nipplejs from 'nipplejs';
+  import nipplejs from 'nipplejs'
-	import { onMount } from 'svelte';
+  import { onMount } from 'svelte'
-	import { capitalize, throttler, toInt8 } from '$lib/utilities';
+  import { capitalize, throttler, toInt8 } from '$lib/utilities'
-	import { input, outControllerData, mode, modes, type Modes, ModesEnum, socket } from '$lib/stores';
+  import { input, outControllerData, mode, modes, type Modes, ModesEnum } from '$lib/stores'
-	import type { vector } from '$lib/models';
+  import type { vector } from '$lib/types/models'
+  import { VerticalSlider } from '$lib/components/input'
+  import { gamepadAxes, gamepadButtons, hasGamepad } from '$lib/stores/gamepad'
+  import { notifications } from '$lib/components/toasts/notifications'
 
-	let throttle = new throttler();
+  let throttle = new throttler()
-	let left: nipplejs.JoystickManager;
+  let left: nipplejs.JoystickManager
-	let right: nipplejs.JoystickManager;
+  let right: nipplejs.JoystickManager
 
-	let throttle_timing = 40;
+  let throttle_timing = 40
-	let data = new Array(8);
+  let data = new Array(8)
+
+  $effect(() => {
+    if ($hasGamepad) {
+      notifications.success('🎮 Gamepad connected', 3000)
+    }
+  })
+
+  $effect(() => {
+    handleJoyMove('left', { x: $gamepadAxes[0], y: -$gamepadAxes[1] })
+    handleJoyMove('right', { x: $gamepadAxes[2], y: $gamepadAxes[3] })
+  })
+
+  // TODO React to button press
+  //   $effect(() => {
+  //     if ($gamepadButtons.length === 0) return
+  //
+  //   })
 
   onMount(() => {
     left = nipplejs.create({
       zone: document.getElementById('left') as HTMLElement,
-			color: 'grey',
+      color: '#15191e80',
       dynamicPage: true,
       mode: 'static',
-			restOpacity: 0.3
+      restOpacity: 1
-		});
+    })
 
     right = nipplejs.create({
       zone: document.getElementById('right') as HTMLElement,
-			color: 'grey',
+      color: '#15191e80',
       dynamicPage: true,
       mode: 'static',
-			restOpacity: 0.3
+      restOpacity: 1
-		});
+    })
 
-		left.on('move', (_, data) => handleJoyMove('left', data.vector));
+    left.on('move', (_, data) => handleJoyMove('left', data.vector))
-		left.on('end', (_, __) => handleJoyMove('left', { x: 0, y: 0 }));
+    left.on('end', (_, __) => handleJoyMove('left', { x: 0, y: 0 }))
-		right.on('move', (_, data) => handleJoyMove('right', data.vector));
+    right.on('move', (_, data) => handleJoyMove('right', data.vector))
-		right.on('end', (_, __) => handleJoyMove('right', { x: 0, y: 0 }));
+    right.on('end', (_, __) => handleJoyMove('right', { x: 0, y: 0 }))
-	});
+  })
 
   const handleJoyMove = (key: 'left' | 'right', data: vector) => {
-		input.update((inputData) => {
+    input.update(inputData => {
-			inputData[key] = data;
+      inputData[key] = data
-			return inputData;
+      return inputData
-		});
+    })
-		throttle.throttle(updateData, throttle_timing);
+    throttle.throttle(updateData, throttle_timing)
-	};
+  }
 
   const updateData = () => {
-		data[0] = 0;
+    data[0] = 0
-		data[1] = toInt8($input.left.x, -1, 1);
+    data[1] = toInt8($input.left.x, -1, 1)
-		data[2] = toInt8($input.left.y, -1, 1);
+    data[2] = toInt8($input.left.y, -1, 1)
-		data[3] = toInt8($input.right.x, -1, 1);
+    data[3] = toInt8($input.right.x, -1, 1)
-		data[4] = toInt8($input.right.y, -1, 1);
+    data[4] = toInt8($input.right.y, -1, 1)
-		data[5] = toInt8($input.height, 0, 100);
+    data[5] = toInt8($input.height, 0, 100)
-		data[6] = toInt8($input.speed, 0, 100);
+    data[6] = toInt8($input.speed, 0, 100)
-		data[7] = toInt8($input.s1, 0, 100);
+    data[7] = toInt8($input.s1, 0, 100)
 
-		outControllerData.set(data);
+    outControllerData.set(data)
-	};
+  }
 
   const handleKeyup = (event: KeyboardEvent) => {
-		const down = event.type === 'keydown';
+    const down = event.type === 'keydown'
-		input.update((data) => {
+    input.update(data => {
-			if (event.key === 'w') data.left.y = down ? -1 : 0;
+      if (event.key === 'w') data.left.y = down ? 1 : 0
-			if (event.key === 'a') data.left.x = down ? -1 : 0;
+      if (event.key === 'a') data.left.x = down ? 1 : 0
-			if (event.key === 's') data.left.y = down ? 1 : 0;
+      if (event.key === 's') data.left.y = down ? -1 : 0
-			if (event.key === 'd') data.left.x = down ? 1 : 0;
+      if (event.key === 'd') data.left.x = down ? -1 : 0
-			return data;
+      return data
-		});
+    })
-		throttle.throttle(updateData, throttle_timing);
+    throttle.throttle(updateData, throttle_timing)
-	};
+  }
 
   const handleRange = (event: Event, key: 'speed' | 'height' | 's1') => {
-        const value:number = event.target?.value
+    const value: number = Number((event.target as HTMLInputElement).value)
 
-        input.update((inputData) => {
+    input.update(inputData => {
-			inputData[key] = value;
+      inputData[key] = value
-			return inputData;
+      return inputData
-		});
+    })
-        throttle.throttle(updateData, throttle_timing);
+    throttle.throttle(updateData, throttle_timing)
   }
 
   const changeMode = (modeValue: Modes) => {
-		mode.set(modes.indexOf(modeValue));
+    mode.set(modes.indexOf(modeValue))
-	};
+  }
 </script>
 
 <div class="absolute top-0 left-0 w-screen h-screen">
   <div class="absolute top-0 left-0 h-full w-full flex portrait:hidden">
-		<div id="left" class="flex w-60 items-center justify-end" />
+    <div id="left" class="flex w-60 items-center justify-end"></div>
-		<div class="flex-1" />
+    <div class="flex-1"></div>
-		<div id="right" class="flex w-60 items-center" />
+    <div id="right" class="flex w-60 items-center"></div>
   </div>
   <div class="absolute bottom-0 right-0 p-4 z-10 gap-2 flex-col hidden lg:flex">
     <div class="flex justify-center w-full">
@@ -98,26 +118,52 @@
       <kbd class="kbd">S</kbd>
       <kbd class="kbd">D</kbd>
     </div>
-        <div class="flex justify-center w-full">
+    <div class="flex justify-center w-full"></div>
   </div>
+  <div class="absolute bottom-0 z-10 flex items-end">
+    <div class="flex items-center flex-col bg-base-300 bg-opacity-50 p-3 pb-2 gap-2 rounded-tr-xl">
+      <VerticalSlider min={0} max={100} oninput={(e: Event) => handleRange(e, 'height')} />
+      <label for="height">Ht</label>
     </div>
-	<div class="absolute bottom-0 z-10 p-4 gap-4 flex items-end">
+    <div
+      class="flex items-end gap-4 bg-base-300 bg-opacity-50 h-min rounded-tr-xl pl-0 p-3 portrait:hidden">
+      <div class="join">
         {#each modes as modeValue}
-            <button class="btn btn-outline" class:btn-active={$mode === modes.indexOf(modeValue)} on:click={() => changeMode(modeValue)}>
+          <button
+            class="btn join-item"
+            class:btn-primary={$mode === modes.indexOf(modeValue)}
+            onclick={() => changeMode(modeValue)}>
             {capitalize(modeValue)}
           </button>
         {/each}
-        <div>
+      </div>
+
       {#if $mode === ModesEnum.Walk || $mode === ModesEnum.Crawl}
+        <div class="flex gap-4">
+          <div>
             <label for="s1">S1</label>
-                <input type="range" name="s1" min="0" max="100" on:input={(e) => handleRange(e, 's1')} class="range range-sm" />
+            <input
+              type="range"
+              name="s1"
+              min="0"
+              max="25"
+              oninput={e => handleRange(e, 's1')}
+              class="range range-sm range-primary" />
+          </div>
+          <div>
             <label for="speed">Speed</label>
-                <input type="range" name="speed" min="0" max="100" on:input={(e) => handleRange(e, 'speed')} class="range range-sm" />
+            <input
+              type="range"
+              name="speed"
+              min="0"
+              max="25"
+              oninput={e => handleRange(e, 'speed')}
+              class="range range-sm range-primary" />
+          </div>
+        </div>
       {/if}
-            <label for="height">Height</label>
-            <input type="range" name="height" min="0" max="100" on:input={(e) => handleRange(e, 'height')} class="range range-sm" />
     </div>
   </div>
 </div>
 
-<svelte:window on:keyup={handleKeyup} on:keydown={handleKeyup} />
+<svelte:window onkeyup={handleKeyup} onkeydown={handleKeyup} />

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

@@ -1,19 +0,0 @@
-<script lang="ts">
-	import { onDestroy } from 'svelte';
-	import { location } from '$lib/utilities';
-
-	let videoStream = `//${location}/api/stream`;
-
-	onDestroy(() => {
-		videoStream = '#';
-	});
-</script>
-
-<div class="w-full h-full">
-	<img
-		src={videoStream}
-		class="absolute object-cover blur-3xl w-full h-full -z-10"
-		alt="Live stream is down"
-	/>
-	<img src={videoStream} class="object-contain w-full h-full" alt="Live stream is down" />
-</div>

app/src/routes/login.svelte

@@ -1,111 +0,0 @@
-<script lang="ts">
-	import logo from '$lib/assets/logo512.png';
-	import InputPassword from '$lib/components/InputPassword.svelte';
-	import { user } from '$lib/stores/user';
-	import { notifications } from '$lib/components/toasts/notifications';
-	import { fade, fly } from 'svelte/transition';
-	import Login from '~icons/tabler/login';
-	import { api } from '$lib/api';
-	import type { JWT } from '$lib/models';
-
-	type SignInData = {
-		password: string;
-		username: string;
-	};
-
-	let username = '';
-	let password = '';
-
-	let loginFailed = false;
-
-	let token = { access_token: '' };
-
-	async function signInUser(data: SignInData) {
-        const result = await api.post<JWT>('/api/signIn', data)
-		if (result.isErr()){
-            username = '';
-            password = '';
-            notifications.error('Wrong Username or Password!', 5000);
-            loginFailed = true;
-            setTimeout(() => {
-                loginFailed = false;
-            }, 1500);
-            return
-        }
-        token = result.inner;
-        user.init(token.access_token);
-        username = $user.username;
-        notifications.success('User ' + username + ' signed in', 5000);
-	}
-</script>
-
-<div class="hero from-primary/30 to-secondary/30 min-h-screen bg-gradient-to-br">
-	<div
-		class="card lg:card-side bg-base-100 face shadow-2xl {loginFailed
-			? 'failure border-error border-2'
-			: ''}"
-		in:fly={{ delay: 200, y: 100, duration: 500 }}
-		out:fade={{ duration: 200 }}
-	>
-		<figure class="bg-base-200"><img src={logo} alt="Logo" class="h-auto w-48 lg:w-64" /></figure>
-		<div class="card-body w-80">
-			<h2 class="card-title text-2xl">Login</h2>
-			<form class="form-control w-full max-w-xs">
-				<label class="label" for="user">
-					<span class="label-text text-md">Username</span>
-				</label>
-				<input
-					type="text"
-					class="input input-bordered w-full max-w-xs"
-					id="user"
-					bind:value={username}
-				/>
-
-				<label class="label" for="pwd">
-					<span class="label-text text-md">Password</span>
-				</label>
-				<InputPassword id="pwd" bind:value={password} />
-
-				<div class="card-actions mt-4 justify-end">
-					<button
-						class="btn btn-primary inline-flex items-center"
-						on:click={() => {
-							signInUser({ username, password });
-						}}><Login class="mr-2 h-5 w-5" /><span>Login</span></button
-					>
-				</div>
-			</form>
-		</div>
-	</div>
-</div>
-
-<style>
-	.failure {
-		animation: shake 0.82s cubic-bezier(0.36, 0.07, 0.19, 0.97) both;
-		transform: translate3d(0, 0, 0);
-		backface-visibility: hidden;
-		perspective: 1000px;
-	}
-	@keyframes shake {
-		10%,
-		90% {
-			transform: translatex(-1px);
-		}
-
-		20%,
-		80% {
-			transform: translatex(2px);
-		}
-
-		30%,
-		50%,
-		70% {
-			transform: translatex(-4px);
-		}
-
-		40%,
-		60% {
-			transform: translatex(4px);
-		}
-	}
-</style>

app/src/routes/menu.svelte

@@ -1,276 +0,0 @@
-<script lang="ts">
-	import logo from '$lib/assets/logo512.png';
-	import MdiGithub from '~icons/mdi/github';
-    import MdiConnection from '~icons/mdi/connection';
-	import Users from '~icons/mdi/users';
-	import Settings from '~icons/mdi/settings';
-    import MdiController from '~icons/mdi/controller';
-    import Devices from '~icons/mdi/devices'
-    import Camera from '~icons/mdi/camera-outline';
-    import Rotate3d from '~icons/mdi/rotate-3d';
-    import MotorOutline from '~icons/mdi/motor-outline';
-	import Health from '~icons/mdi/stethoscope';
-	import Folder from '~icons/mdi/folder-outline';
-	import Update from '~icons/mdi/reload';
-	import WiFi from '~icons/mdi/wifi';
-	import Router from '~icons/mdi/router';
-	import AP from '~icons/mdi/access-point';
-	import Remote from '~icons/mdi/network';
-	import Avatar from '~icons/mdi/user-circle';
-	import Logout from '~icons/mdi/logout';
-	import Copyright from '~icons/mdi/copyright';
-	import NTP from '~icons/mdi/clock-check';
-	import Metrics from '~icons/mdi/report-bar';
-	import { page } from '$app/stores';
-	import { user } from '$lib/stores/user';
-	import { createEventDispatcher } from 'svelte';
-
-	const appName = $page.data.app_name;
-
-	const copyright = $page.data.copyright;
-
-	const github = { href: 'https://github.com/' + $page.data.github, active: true };
-
-	type menuItem = {
-		title: string;
-		icon: ConstructorOfATypedSvelteComponent;
-		href?: string;
-		feature: boolean;
-		active?: boolean;
-		submenu?: subMenuItem[];
-	};
-
-	type subMenuItem = {
-		title: string;
-		icon: ConstructorOfATypedSvelteComponent;
-		href: string;
-		feature: boolean;
-		active: boolean;
-	};
-
-	let menuItems = [
-        {
-            title: 'Controller',
-            icon: MdiController,
-            href: '/controller',
-            feature: true,
-        },
-        {
-			title: 'Peripherals',
-			icon: Devices,
-			feature: true,
-			submenu: [
-                {
-					title: 'I2C',
-					icon: MdiConnection,
-					href: '/peripherals/i2c',
-					feature: true,
-				},
-				{
-					title: 'Camera',
-					icon: Camera,
-					href: '/peripherals/camera',
-					feature: $page.data.features.camera,
-				},
-                {
-					title: 'Servo',
-					icon: MotorOutline,
-					href: '/peripherals/servo',
-					feature: true,
-				},
-                {
-					title: 'IMU',
-					icon: Rotate3d,
-					href: '/peripherals/imu',
-					feature: $page.data.features.imu || $page.data.features.mag || $page.data.features.bmp,
-				}
-			]
-		},
-		{
-			title: 'Connections',
-			icon: Remote,
-			feature: $page.data.features.ntp,
-			submenu: [
-				{
-					title: 'NTP',
-					icon: NTP,
-					href: '/connections/ntp',
-					feature: $page.data.features.ntp,
-					
-				}
-			]
-		},
-		{
-			title: 'WiFi',
-			icon: WiFi,
-			feature: true,
-			submenu: [
-				{
-					title: 'WiFi Station',
-					icon: Router,
-					href: '/wifi/sta',
-					feature: true,
-					
-				},
-				{
-					title: 'Access Point',
-					icon: AP,
-					href: '/wifi/ap',
-					feature: true,
-					
-				}
-			]
-		},
-		{
-			title: 'Users',
-			icon: Users,
-			href: '/user',
-			feature: $page.data.features.security && $user.admin,
-			
-		},
-		{
-			title: 'System',
-			icon: Settings,
-			feature: true,
-			submenu: [
-				{
-					title: 'System Status',
-					icon: Health,
-					href: '/system/status',
-					feature: true,
-					
-				},
-                {
-					title: 'File System',
-					icon: Folder,
-					href: '/system/filesystem',
-					feature: true,
-					
-				},
-				{
-					title: 'System Metrics',
-					icon: Metrics,
-					href: '/system/metrics',
-					feature: $page.data.features.analytics,
-					
-				},
-				{
-					title: 'Firmware Update',
-					icon: Update,
-					href: '/system/update',
-					feature:
-						($page.data.features.ota ||
-							$page.data.features.upload_firmware ||
-							$page.data.features.download_firmware) &&
-						(!$page.data.features.security || $user.admin),
-				}
-			]
-		}
-	] as menuItem[];
-
-	const dispatch = createEventDispatcher();
-
-	function setActiveMenuItem(targetTitle: string) {
-		menuItems.forEach(item => {
-			item.active = item.title === targetTitle;
-			item.submenu?.forEach(subItem => {
-				subItem.active = subItem.title === targetTitle;
-			});
-		});
-		menuItems = menuItems
-		dispatch('menuClicked');
-	}
-
-	$: setActiveMenuItem($page.data.title);
-</script>
-
-<div class="bg-base-200 text-base-content flex h-full w-80 flex-col p-4">
-	<!-- Sidebar content here -->
-	<a
-		href="/"
-		class="rounded-box mb-4 flex items-center hover:scale-[1.02] active:scale-[0.98]"
-		on:click={() => setActiveMenuItem('')}
-	>
-		<img src={logo} alt="Logo" class="h-12 w-12" />
-		<h1 class="px-4 text-2xl font-bold">{appName}</h1>
-	</a>
-	<ul class="menu rounded-box menu-vertical flex-nowrap overflow-y-auto">
-		{#each menuItems as menuItem, i (menuItem.title)}
-			{#if menuItem.feature}
-				<li>
-					{#if menuItem.submenu}
-						<details>
-							<summary class="text-lg font-bold">
-								<svelte:component this={menuItem.icon} class="h-6 w-6" />
-								{menuItem.title}
-							</summary>
-							<ul>
-								{#each menuItem.submenu as subMenuItem}
-									{#if subMenuItem.feature}
-										<li class="hover-bordered">
-											<a
-												href={subMenuItem.href}
-												class:bg-base-100={subMenuItem.active}
-												class="text-ml font-bold"
-												on:click={() => {
-													setActiveMenuItem(subMenuItem.title);
-													menuItems = menuItems;
-												}}
-												><svelte:component
-													this={subMenuItem.icon}
-													class="h-5 w-5"
-												/>{subMenuItem.title}</a
-											>
-										</li>
-									{/if}
-								{/each}
-							</ul>
-						</details>
-					{:else}
-						<a
-							href={menuItem.href}
-							class:bg-base-100={menuItem.active}
-							class="text-lg font-bold"
-							on:click={() => {
-								setActiveMenuItem(menuItem.title);
-								menuItems = menuItems;
-							}}><svelte:component this={menuItem.icon} class="h-6 w-6" />{menuItem.title}</a
-						>
-					{/if}
-				</li>
-			{/if}
-		{/each}
-	</ul>
-
-	<div class="flex-col" />
-	<div class="flex-grow" />
-
-	{#if $page.data.features.security}
-		<div class="flex items-center">
-			<Avatar class="h-8 w-8" />
-			<span class="flex-grow px-4 text-xl font-bold">{$user.username}</span>
-			<!-- svelte-ignore a11y-click-events-have-key-events -->
-			<!-- svelte-ignore a11y-no-static-element-interactions -->
-			<div
-				class="btn btn-ghost"
-				on:click={() => {
-					user.invalidate();
-				}}
-			>
-				<Logout class="h-8 w-8 rotate-180" />
-			</div>
-		</div>
-	{/if}
-
-	<div class="divider my-0" />
-	<div class="flex items-center">
-		{#if github.active}
-			<a href={github.href} class="btn btn-ghost" target="_blank" rel="noopener noreferrer"
-				><MdiGithub class="h-5 w-5" /></a
-			>
-		{/if}
-		<div class="inline-flex flex-grow items-center justify-end text-sm">
-			<Copyright class="h-4 w-4" /><span class="px-2">{copyright}</span>
-		</div>
-	</div>
-</div>

app/src/routes/peripherals/camera/Camera.svelte

@@ -1,14 +1,17 @@
 <script lang="ts">
 	import SettingsCard from "$lib/components/SettingsCard.svelte";
-    import Camera from '~icons/mdi/camera-outline'
-    import Record from '~icons/mdi/radio-button-unchecked'
 	import CameraSetting from './CameraSetting.svelte';
 	import Stream from '$lib/components/Stream.svelte';
+	import { Camera } from "$lib/components/icons";
 </script>
 
 <SettingsCard collapsible={false}>
-    <Camera slot="icon" class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+    {#snippet icon()}
-    <span slot="title">Camera</span>
+		<Camera  class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+	{/snippet}
+    {#snippet title()}
+		<span >Camera</span>
+	{/snippet}
     <Stream />
     <CameraSetting />
 </SettingsCard>

app/src/routes/peripherals/camera/CameraSetting.svelte

@@ -1,8 +1,8 @@
 <script lang="ts">
 	import { api } from '$lib/api';
 	import Spinner from '$lib/components/Spinner.svelte';
-    import type { CameraSettings } from '$lib/models';
+    import type { CameraSettings } from '$lib/types/models';
-    let settings:CameraSettings
+    let settings:CameraSettings = $state()
 
     const getCameraSettings = async () => {
         const result = await api.get<CameraSettings>('/api/camera/settings')
@@ -27,7 +27,7 @@
     <Spinner />
 {:then _} 
     <div class="flex flex-col gap-1">
-        <button class="btn btn-primary" type="button" on:click={updateCameraSettings}>Update camera settings</button>
+        <button class="btn btn-primary" type="button" onclick={updateCameraSettings}>Update camera settings</button>
 
         <label for="brightness">
             Brightness {settings.brightness}

app/src/routes/peripherals/i2c/+page.svelte

@@ -1,5 +1,5 @@
 <script lang="ts">
-	import I2C from './i2c.svelte';
+  import I2C from './i2c.svelte'
 </script>
 
 <div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">

app/src/routes/peripherals/i2c/+page.ts

@@ -1,7 +1,7 @@
-import type { PageLoad } from './$types';
+import type { PageLoad } from './$types'
 
 export const load = (async () => {
   return {
     title: 'I2C'
-	};
+  }
-}) satisfies PageLoad;
+}) satisfies PageLoad

app/src/routes/peripherals/i2c/i2c.svelte

@@ -1,41 +1,78 @@
 <script lang="ts">
-	import SettingsCard from "$lib/components/SettingsCard.svelte";
+  import SettingsCard from '$lib/components/SettingsCard.svelte'
-    import MdiConnection from '~icons/mdi/connection';
+  import { onMount } from 'svelte'
-	import { onDestroy, onMount } from "svelte";
+  import { socket } from '$lib/stores'
-	import { socket } from "$lib/stores";
+  import type { I2CDevice } from '$lib/types/models'
-    import type { I2CDevice } from "$lib/types/models";
+  import { Connection } from '$lib/components/icons'
+  import I2CSetting from './i2cSetting.svelte'
 
   const i2cDevices = [
-        {address:30,  part_number: "HMC5883", name: "3-Axis Digital Compass/Magnetometer IC"},
+    { address: 30, part_number: 'HMC5883', name: '3-Axis Digital Compass/Magnetometer IC' },
-        {address:64,  part_number: "PCA9685", name: "16-channel PWM driver default address"},
+    { address: 41, part_number: 'BNO055', name: '9-Axis Absolute Orientation Sensor' },
-        {address:72,  part_number: "ADS1115", name: "4-channel 16-bit ADC"},
+    { address: 64, part_number: 'PCA9685', name: '16-channel PWM driver default address' },
-        {address:104,  part_number: "MPU6050", name: "Six-Axis (Gyro + Accelerometer) MEMS MotionTracking™ Devices"},
+    { address: 72, part_number: 'ADS1115', name: '4-channel 16-bit ADC' },
-        {address:119,  part_number: "BMP085", name: "Temp/Barometric"},
+    {
-    ];
+      address: 104,
+      part_number: 'MPU6050',
+      name: 'Six-Axis (Gyro + Accelerometer) MEMS MotionTracking™ Devices'
+    },
+    { address: 119, part_number: 'BMP085', name: 'Temp/Barometric' }
+  ]
 
-    let active_devices:I2CDevice[] = [];
+  let active_devices: I2CDevice[] = $state([])
+
+  let isLoading = $state(false)
 
   onMount(() => {
-        socket.on('i2cScan', handleScan);
+    socket.on('i2cScan', handleScan)
-        socket.sendEvent('i2cScan', "");
+    triggerScan()
-    })
+    return () => socket.off('i2cScan', handleScan)
-
-    onDestroy(() => {
-        socket.off('i2cScan', handleScan);
   })
 
   const handleScan = (data: any) => {
-        active_devices = data.addresses.map((address:number) => i2cDevices.find(device => device.address === address))
+    active_devices = data.addresses.map(
+      (address: number) =>
+        i2cDevices.find(device => device.address === address) || {
+          address,
+          part_number: 'Unknown',
+          name: 'Unknown'
+        }
+    )
+    isLoading = false
+  }
+
+  const triggerScan = () => {
+    isLoading = true
+    socket.sendEvent('i2cScan', '')
   }
 </script>
 
 <SettingsCard collapsible={false}>
-    <MdiConnection slot="icon" class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+  {#snippet icon()}
-    <span slot="title">I<sup>2</sup>C</span>
+    <Connection class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+  {/snippet}
+  {#snippet title()}
+    <span>I<sup>2</sup>C</span>
+  {/snippet}
+  {#snippet right()}
+    <button class="btn btn-primary" onclick={triggerScan} disabled={isLoading}>
+      {#if isLoading}
+        <span class="loading loading-ring loading-xs"></span>
+      {:else}
+        Scan
+      {/if}
+    </button>
+  {/snippet}
+
+  <I2CSetting />
 
   <div class="grid">
+    {#if active_devices.length === 0}
+      <div>No I2C devices found</div>
+    {:else}
       {#each active_devices as device}
         <div>[{device.address.toString(16)}] {device.part_number} - {device.name}</div>
       {/each}
+    {/if}
   </div>
 </SettingsCard>

app/src/routes/peripherals/i2c/i2cSetting.svelte

@@ -0,0 +1,99 @@
+<script lang="ts">
+  import { Cancel, Edit, EditOff, Power } from '$lib/components/icons'
+  import { socket } from '$lib/stores'
+  import type { PeripheralsConfiguration } from '$lib/types/models'
+  import { onMount } from 'svelte'
+  import { modals } from 'svelte-modals'
+  import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
+
+  let settings: PeripheralsConfiguration | null = $state(null)
+  let isEditing = $state(false)
+
+  onMount(() => {
+    socket.on('peripheralSettings', handleSettings)
+    socket.sendEvent('peripheralSettings', '')
+    return () => socket.off('peripheralSettings', handleSettings)
+  })
+
+  const handleSettings = (data: any) => {
+    settings = data
+  }
+
+  const handleSave = () => {
+    modals.open(ConfirmDialog, {
+      title: 'Confirm configuration',
+      message:
+        'Are you sure you want to save this configuration? The operation cannot be undone. Please make sure you have the correct settings.',
+      labels: {
+        cancel: { label: 'Cancel', icon: Cancel },
+        confirm: { label: 'Confirm', icon: Power }
+      },
+      onConfirm: () => {
+        modals.close()
+        socket.sendEvent('peripheralSettings', settings)
+      }
+    })
+  }
+
+  const Icon = $derived(isEditing ? EditOff : Edit)
+</script>
+
+{#if settings}
+  <div class="collapse bg-base-100 border-base-300 border">
+    <input type="checkbox" />
+    <div class="collapse-title font-semibold">Configuration</div>
+    <div class="collapse-content text-sm">
+      <div class="flex flex-col gap-2">
+        <label for="sda" class="input validator">
+          SDA
+
+          <input
+            id="sda"
+            type="number"
+            required
+            placeholder="Type a number between 1 to 48"
+            min="0"
+            max="48"
+            title="SDA pin number (0-48)"
+            disabled={!isEditing}
+            bind:value={settings.sda} />
+        </label>
+        <label for="scl" class="input validator">
+          SCL
+
+          <input
+            id="scl"
+            type="number"
+            required
+            placeholder="Type a number between 1 to 48"
+            min="1"
+            max="48"
+            title="SCL pin number (0-48)"
+            disabled={!isEditing}
+            bind:value={settings.scl} />
+        </label>
+        <label class="input validator" for="frequency">
+          Frequency
+          <input
+            id="frequency"
+            type="number"
+            required
+            placeholder="Type a number between 100000 to 430000"
+            min="100000"
+            max="430000"
+            title="I2C frequency in Hz"
+            disabled={!isEditing}
+            bind:value={settings.frequency} />
+        </label>
+        <div>
+          <button class="btn btn-outline btn-primary" onclick={() => (isEditing = !isEditing)}>
+            <Icon class="h-6 w-6" />
+          </button>
+          {#if isEditing}
+            <button class="btn btn-outline btn-primary" onclick={handleSave}>Save</button>
+          {/if}
+        </div>
+      </div>
+    </div>
+  </div>
+{/if}

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

@@ -1,59 +1,92 @@
 <script lang="ts">
-	import SettingsCard from "$lib/components/SettingsCard.svelte";
+  import SettingsCard from '$lib/components/SettingsCard.svelte'
-    import Rotate3d from '~icons/mdi/rotate-3d';
+  import { imu } from '$lib/stores/imu'
-    import { imu } from '$lib/stores/imu';
+  import { Chart, registerables } from 'chart.js'
-    import { Chart, registerables } from 'chart.js';
+  import { cubicOut } from 'svelte/easing'
-	import { cubicOut } from "svelte/easing";
+  import { slide } from 'svelte/transition'
-	import { slide } from "svelte/transition";
+  import { onDestroy, onMount } from 'svelte'
-	import { onDestroy, onMount } from "svelte";
+  import { socket } from '$lib/stores'
-	import { daisyColor } from "$lib/DaisyUiHelper";
+  import type { IMU } from '$lib/types/models'
-	import { socket } from "$lib/stores";
+  import { useFeatureFlags } from '$lib/stores/featureFlags'
-	import type { IMU } from "$lib/types/models";
+  import { Rotate3d } from '$lib/components/icons'
-	import { page } from "$app/stores";
 
-    Chart.register(...registerables);
+  Chart.register(...registerables)
 
-    let angleChartElement: HTMLCanvasElement;
+  const features = useFeatureFlags()
-	let angleChart: Chart;
+  let intervalId: number
 
-    let tempChartElement: HTMLCanvasElement;
+  let angleChartElement: HTMLCanvasElement = $state()
-	let tempChart: Chart;
+  let tempChartElement: HTMLCanvasElement = $state()
+  let altitudeChartElement: HTMLCanvasElement = $state()
 
-    let altitudeChartElement: HTMLCanvasElement;
+  let angleChart: Chart
-	let altitudeChart: Chart;
+  let tempChart: Chart
+  let altitudeChart: Chart
 
-    const handleImu = (data: IMU) => {
+  const getChartColors = () => {
-        console.log(data);
+    const style = getComputedStyle(document.body)
-        
+    return {
-        imu.addData(data);   
+      primary: style.getPropertyValue('--color-primary'),
+      secondary: style.getPropertyValue('--color-secondary'),
+      accent: style.getPropertyValue('--color-accent'),
+      background: style.getPropertyValue('--color-background')
+    }
   }
 
-    onMount(() => {
+  const createBaseChartConfig = (bgColor: string) => ({
-        socket.on('imu', handleImu);
+    maintainAspectRatio: false,
+    responsive: true,
+    plugins: {
+      legend: { display: true },
+      tooltip: { mode: 'index', intersect: false }
+    },
+    elements: { point: { radius: 1 } },
+    scales: {
+      x: {
+        grid: { color: bgColor },
+        ticks: { color: bgColor },
+        display: false
+      },
+      y: {
+        type: 'linear',
+        position: 'left',
+        min: 0,
+        max: 10,
+        grid: { color: bgColor },
+        ticks: { color: bgColor },
+        border: { color: bgColor }
+      }
+    }
+  })
+
+  const initializeCharts = () => {
+    const colors = getChartColors()
+    const baseConfig = createBaseChartConfig(colors.background)
+
     angleChart = new Chart(angleChartElement, {
       type: 'line',
       data: {
         datasets: [
           {
             label: 'x',
-						borderColor: daisyColor('--p'),
+            borderColor: colors.primary,
-						backgroundColor: daisyColor('--p', 50),
+            backgroundColor: colors.primary,
             borderWidth: 2,
             data: $imu.x,
             yAxisID: 'y'
           },
           {
             label: 'y',
-						borderColor: daisyColor('--s'),
+            borderColor: colors.secondary,
-						backgroundColor: daisyColor('--s', 50),
+            backgroundColor: colors.secondary,
             borderWidth: 2,
             data: $imu.y,
             yAxisID: 'y'
           },
           {
             label: 'z',
-						borderColor: daisyColor('--a'),
+            borderColor: colors.accent,
-						backgroundColor: daisyColor('--a', 50),
+            backgroundColor: colors.accent,
             borderWidth: 2,
             data: $imu.z,
             yAxisID: 'y'
@@ -61,61 +94,30 @@
         ]
       },
       options: {
-				maintainAspectRatio: false,
+        ...baseConfig,
-				responsive: true,
-				plugins: {
-					legend: {
-						display: true
-					},
-					tooltip: {
-						mode: 'index',
-						intersect: false
-					}
-				},
-				elements: {
-					point: {
-						radius: 1
-					}
-				},
         scales: {
-					x: {
+          ...baseConfig.scales,
-						grid: {
-							color: daisyColor('--bc', 10)
-						},
-						ticks: {
-							color: daisyColor('--bc')
-						},
-						display: false
-					},
           y: {
-						type: 'linear',
+            ...baseConfig.scales.y,
             title: {
               display: true,
               text: 'Angle [°]',
-							color: daisyColor('--bc'),
+              color: colors.background,
-							font: {
+              font: { size: 16, weight: 'bold' }
-								size: 16,
-								weight: 'bold'
-							}
-						},
-						position: 'left',
-						min:  0,
-						max: 10,
-						grid: { color: daisyColor('--bc', 10) },
-						ticks: { color: daisyColor('--bc') },
-						border: { color: daisyColor('--bc', 10) }
             }
           }
         }
-		});
+      }
+    })
+
     tempChart = new Chart(tempChartElement, {
       type: 'line',
       data: {
         datasets: [
           {
             label: 'Barometer temperature',
-						borderColor: daisyColor('--s'),
+            borderColor: colors.secondary,
-						backgroundColor: daisyColor('--s', 50),
+            backgroundColor: colors.secondary,
             borderWidth: 2,
             data: $imu.bmp_temp,
             yAxisID: 'y'
@@ -123,61 +125,30 @@
         ]
       },
       options: {
-				maintainAspectRatio: false,
+        ...baseConfig,
-				responsive: true,
-				plugins: {
-					legend: {
-						display: true
-					},
-					tooltip: {
-						mode: 'index',
-						intersect: false
-					}
-				},
-				elements: {
-					point: {
-						radius: 1
-					}
-				},
         scales: {
-					x: {
+          ...baseConfig.scales,
-						grid: {
-							color: daisyColor('--bc', 10)
-						},
-						ticks: {
-							color: daisyColor('--bc')
-						},
-						display: false
-					},
           y: {
-						type: 'linear',
+            ...baseConfig.scales.y,
             title: {
               display: true,
               text: 'Temperature [C°]',
-							color: daisyColor('--bc'),
+              color: colors.background,
-							font: {
+              font: { size: 16, weight: 'bold' }
-								size: 16,
-								weight: 'bold'
-							}
-						},
-						position: 'left',
-						min:  0,
-						max: 10,
-						grid: { color: daisyColor('--bc', 10) },
-						ticks: { color: daisyColor('--bc') },
-						border: { color: daisyColor('--bc', 10) }
             }
           }
         }
-		});
+      }
+    })
+
     altitudeChart = new Chart(altitudeChartElement, {
       type: 'line',
       data: {
         datasets: [
           {
             label: 'Altitude',
-						borderColor: daisyColor('--p'),
+            borderColor: colors.primary,
-						backgroundColor: daisyColor('--p', 50),
+            backgroundColor: colors.primary,
             borderWidth: 2,
             data: $imu.altitude,
             yAxisID: 'y'
@@ -185,120 +156,98 @@
         ]
       },
       options: {
-				maintainAspectRatio: false,
+        ...baseConfig,
-				responsive: true,
-				plugins: {
-					legend: {
-						display: true
-					},
-					tooltip: {
-						mode: 'index',
-						intersect: false
-					}
-				},
-				elements: {
-					point: {
-						radius: 1
-					}
-				},
         scales: {
-					x: {
+          ...baseConfig.scales,
-						grid: {
-							color: daisyColor('--bc', 10)
-						},
-						ticks: {
-							color: daisyColor('--bc')
-						},
-						display: false
-					},
           y: {
-						type: 'linear',
+            ...baseConfig.scales.y,
             title: {
               display: true,
               text: 'Altitude [M]',
-							color: daisyColor('--bc'),
+              color: colors.background,
-							font: {
+              font: { size: 16, weight: 'bold' }
-								size: 16,
-								weight: 'bold'
-							}
-						},
-						position: 'left',
-						min:  0,
-						max: 10,
-						grid: { color: daisyColor('--bc', 10) },
-						ticks: { color: daisyColor('--bc') },
-						border: { color: daisyColor('--bc', 10) }
             }
           }
         }
-		});
+      }
-        setInterval(() => {
+    })
-			updateData(), 200;
+  }
-		});
+
+  const updateChartData = (chart: Chart, data: number[], label: string) => {
+    chart.data.labels = data
+    chart.data.datasets[0].data = data
+    chart.options.scales!.y!.min = Math.min(...data) - 1
+    chart.options.scales!.y!.max = Math.max(...data) + 1
+    chart.update('none')
+  }
+
+  const updateData = () => {
+    if ($features.imu) {
+      angleChart.data.labels = $imu.x
+      angleChart.data.datasets[0].data = $imu.x
+      angleChart.data.datasets[1].data = $imu.y
+      angleChart.data.datasets[2].data = $imu.z
+
+      const allValues = [...$imu.x, ...$imu.y, ...$imu.z]
+      angleChart.options.scales!.y!.min = Math.min(...allValues) - 1
+      angleChart.options.scales!.y!.max = Math.max(...allValues) + 1
+      angleChart.update('none')
+    }
+
+    if ($features.bmp) {
+      updateChartData(tempChart, $imu.bmp_temp, 'Temperature')
+      updateChartData(altitudeChart, $imu.altitude, 'Altitude')
+    }
+  }
+
+  onMount(() => {
+    socket.on('imu', (data: IMU) => {
+      console.log(data)
+      imu.addData(data)
+    })
+
+    initializeCharts()
+    intervalId = setInterval(updateData, 200)
   })
 
   onDestroy(() => {
-        socket.off('imu', handleImu);
+    socket.off('imu')
+    clearInterval(intervalId)
   })
-
-    const updateData = () => {
-        if ($page.data.features.imu) {
-            angleChart.data.labels = $imu.x;
-            angleChart.data.datasets[0].data = $imu.x;
-            angleChart.data.datasets[1].data = $imu.y;
-            angleChart.data.datasets[2].data = $imu.z;
-            angleChart.options.scales!.y!.min = Math.min(Math.min(...$imu.x), Math.min(...$imu.y), Math.min(...$imu.z)) - 1;
-            angleChart.options.scales!.y!.max = Math.max(Math.max(...$imu.x), Math.max(...$imu.y), Math.max(...$imu.z)) + 1;
-            angleChart.update('none');
-        }
-
-        if ($page.data.features.bmp) {
-            tempChart.data.labels = $imu.bmp_temp;
-            tempChart.data.datasets[0].data = $imu.bmp_temp;
-            tempChart.options.scales!.y!.min = Math.min(...$imu.bmp_temp) - 1;
-            tempChart.options.scales!.y!.max = Math.max(...$imu.bmp_temp) + 1;
-            tempChart.update('none');
-    
-            altitudeChart.data.labels = $imu.altitude;
-            altitudeChart.data.datasets[0].data = $imu.altitude;
-            altitudeChart.options.scales!.y!.min = Math.min(Math.min(...$imu.altitude)) - 1;
-            altitudeChart.options.scales!.y!.max = Math.max(Math.max(...$imu.altitude)) + 1;
-            altitudeChart.update('none');
-        }
-    }
-
 </script>
 
 <SettingsCard collapsible={false}>
-    <Rotate3d slot="icon" class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+  {#snippet icon()}
-    <span slot="title">IMU</span>
+    <Rotate3d class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
-    {#if $page.data.features.imu} 
+  {/snippet}
+  {#snippet title()}
+    <span>IMU</span>
+  {/snippet}
+
+  {#if $features.imu}
     <div class="w-full overflow-x-auto">
       <div
         class="flex w-full flex-col space-y-1 h-60"
-            transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-            >
+        <canvas bind:this={angleChartElement}></canvas>
-                <canvas bind:this={angleChartElement} />
       </div>
     </div>
   {/if}
-    {#if $page.data.features.bmp} 
+
+  {#if $features.bmp}
     <div class="w-full overflow-x-auto">
       <div
         class="flex w-full flex-col space-y-1 h-60"
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-            >
+        <canvas bind:this={tempChartElement}></canvas>
-                <canvas bind:this={tempChartElement} />
       </div>
     </div>
     <div class="w-full overflow-x-auto">
       <div
         class="flex w-full flex-col space-y-1 h-60"
-            transition:slide|local={{ duration: 300, easing: cubicOut }}
+        transition:slide|local={{ duration: 300, easing: cubicOut }}>
-            >
+        <canvas bind:this={altitudeChartElement}></canvas>
-            <canvas bind:this={altitudeChartElement} />
       </div>
     </div>
   {/if}
-    <!-- <IMUSetting /> -->
 </SettingsCard>

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

@@ -1,7 +1,12 @@
 <script lang="ts">
-	import Servos from './servos.svelte';
+  import Servos from './servos.svelte'
+  import ServoTable from './ServoTable.svelte'
+
+  let servoId = $state(0)
+  let pwm = $state(306)
 </script>
 
 <div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">
-	<Servos />
+  <Servos bind:servoId bind:pwm />
+  <ServoTable {servoId} {pwm} />
 </div>

app/src/routes/peripherals/servo/ServoTable.svelte

@@ -0,0 +1,113 @@
+<script lang="ts">
+  import { api } from '$lib/api'
+  import { onMount } from 'svelte'
+  import { RotateCw, RotateCcw } from '$lib/components/icons'
+  interface Props {
+    data?: any
+    servoId?: number
+    pwm?: number
+  }
+
+  let {
+    data = $bindable({
+      servos: []
+    }),
+    pwm = $bindable(306),
+    servoId = $bindable(0)
+  }: Props = $props()
+
+  const updateValue = (event: Event, index: number, key: string) => {
+    data.servos[index][key] = Number((event.target as HTMLInputElement).value)
+  }
+
+  const syncConfig = async () => {
+    await api.post('/api/servo/config', data)
+  }
+
+  const toggleDirection = async (index: number) => {
+    data.servos[index].direction = data.servos[index].direction === 1 ? -1 : 1
+    await syncConfig()
+  }
+
+  onMount(async () => {
+    const result = await api.get('/api/servo/config')
+    if (result.isOk()) {
+      data = result.inner
+    }
+  })
+
+  const setCenterPWM = async () => {
+    console.log('setCenterPWM', servoId, pwm)
+    data.servos[servoId]['center_pwm'] = pwm
+    await syncConfig()
+  }
+</script>
+
+<div>
+  <button class="btn btn-sm btn-primary" onclick={() => setCenterPWM()}>Set center pwm</button>
+</div>
+
+<div class="overflow-x-auto">
+  <table class="table table-xs">
+    <thead>
+      <tr>
+        <th>Servo</th>
+        <th>Center PWM</th>
+        <th>Center Angle</th>
+        <th>Direction</th>
+        <th>Conversion</th>
+      </tr>
+    </thead>
+    <tbody>
+      {#each data.servos as servo, index}
+        <tr class="hover:bg-base-200">
+          <td class="font-medium">Servo {index}</td>
+          <td>
+            <input
+              type="number"
+              class="input input-sm input-bordered w-20"
+              value={servo.center_pwm}
+              onblur={syncConfig}
+              oninput={event => updateValue(event, index, 'center_pwm')}
+              min="80"
+              max="600" />
+          </td>
+          <td>
+            <input
+              type="number"
+              step="0.1"
+              class="input input-sm input-bordered w-20"
+              value={servo.center_angle}
+              onblur={syncConfig}
+              oninput={event => updateValue(event, index, 'center_angle')}
+              min="-90"
+              max="90" />
+          </td>
+          <td>
+            <button
+              class="btn btn-sm btn-ghost"
+              title="Toggle direction {servo.direction}"
+              onclick={() => toggleDirection(index)}>
+              {#if servo.direction === 1}
+                <RotateCw class="w-4 h-4 text-green-500" />
+              {:else}
+                <RotateCcw class="w-4 h-4" />
+              {/if}
+            </button>
+          </td>
+          <td>
+            <input
+              type="number"
+              step="0.01"
+              class="input input-sm input-bordered w-20"
+              value={servo.conversion}
+              onblur={syncConfig}
+              oninput={event => updateValue(event, index, 'conversion')}
+              min="0"
+              max="10" />
+          </td>
+        </tr>
+      {/each}
+    </tbody>
+  </table>
+</div>

app/src/routes/peripherals/servo/servo.svelte

@@ -1,30 +0,0 @@
-<script lang="ts">
-    import type { Servo } from "$lib/models";
-	import { createEventDispatcher } from "svelte";
-    export let servo: Servo;
-
-    const dispatch = createEventDispatcher();
-
-    const sweep = () => {
-        dispatch('sweep', {channel: servo.channel});
-    };
-</script>
-
-<div>
-    <h2 class="text-lg">{ servo.name }</h2>
-    <div class="flex gap-2 items-center">
-        Is inverted <input type="checkbox" bind:checked={servo.inverted} class="toggle"/>
-    </div>
-    <div>
-        Middle position <input type="number" bind:value={servo.center_angle} class="input input-bordered input-sm max-w-xs"/>
-    </div>
-
-    <div class="relative mb-6">
-        <label for="labels-range-input" class="sr-only">Labels range</label>
-        <input id="labels-range-input" type="range" bind:value={servo.angle} min="0" max="180" class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700">
-        <span class="text-sm text-gray-500 dark:text-gray-400 absolute start-0 -bottom-6">0</span>
-        <span class="text-sm text-gray-500 dark:text-gray-400 absolute start-1/2 -translate-x-1/2 rtl:translate-x-1/2 -bottom-6">90</span>
-        <span class="text-sm text-gray-500 dark:text-gray-400 absolute end-0 -bottom-6">180</span>
-    </div>
-    <button class="btn btn-neutral btn-sm" on:click={sweep}>Sweep range</button>
-</div>