Merge branch 'walking-gait' of https://github.com/runeharlyk/SpotMicroESP32-Leika into walking-gait

.github/workflows/app-unit-test.yml

@@ -1,14 +1,10 @@
-name: Frontend Tests
+name: CI
 
 on:
   push:
     branches: [ master ]
-    paths:
-        - 'app/**'  
   pull_request:
     branches: [ master ]
-    paths:
-        - 'app/**'  
     
 permissions:
   contents: read
@@ -34,8 +30,6 @@ jobs:
 
     - name: Install dependencies
       run: pnpm install
-    - name: Install Playwright Browsers
-      run: npx playwright install --with-deps
 
     - name: Run tests
       run: pnpm test

.github/workflows/embedded-build.yml

@@ -1,43 +0,0 @@
-name: PlatformIO CI
-
-on:
-  push:
-    branches: [ master ]
-    paths:
-        - 'esp32/**'  
-  pull_request:
-    branches: [ master ]
-    paths:
-        - 'esp32/**'  
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: ./esp32
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: actions/cache@v3
-        with:
-          path: |
-            ~/.cache/pip
-            ~/.platformio/.cache
-          key: ${{ runner.os }}-pio
-
-      - uses: actions/setup-python@v4
-        with:
-          python-version: '3.x'
-      - run: pip install -r ./scripts/requirements.txt
-      - name: Install PlatformIO Core
-        run: pip install --upgrade platformio
-
-      - name: Build PlatformIO Project
-        run: pio run
-
-      - name: Upload Artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: build-artifacts
-          path: esp32/build/firmware

.gitignore

@@ -1,4 +1,2 @@
-.vscode/.browse.c_cpp.db*
+*.pyc
-.vscode/c_cpp_properties.json
+spot_env
-.vscode/launch.json
-.vscode/ipch

.vscode/extensions.json

@@ -2,10 +2,7 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-      "platformio.platformio-ide",
+        "platformio.platformio-ide"
-      "svelte.svelte-vscode",
-      "bradlc.vscode-tailwindcss",
-      "esbenp.prettier-vscode"
     ],
     "unwantedRecommendations": [
         "ms-vscode.cpptools-extension-pack"

.vscode/settings.json

@@ -1,15 +1,6 @@
 {
     "files.associations": {
-      "cmath": "cpp",
+        "cmath": "cpp"
-      "array": "cpp",
-      "deque": "cpp",
-      "string": "cpp",
-      "unordered_map": "cpp",
-      "unordered_set": "cpp",
-      "vector": "cpp",
-      "string_view": "cpp",
-      "initializer_list": "cpp",
-      "regex": "cpp"
     },
     "editor.tabSize": 4,
     "editor.detectIndentation": false,

app/.env.embedded

@@ -0,0 +1,3 @@
+VITE_API_URL="leika.local"
+VITE_SOCKET_URL="leika.local"
+VITE_EMBEDDED_BUILD=true

app/.env.mock_embedded

@@ -0,0 +1,3 @@
+VITE_API_URL="hostname"
+VITE_SOCKET_URL="hostname:2096"
+VITE_EMBEDDED_BUILD=true

app/.env.mock_web

@@ -0,0 +1,3 @@
+VITE_API_URL="hostname"
+VITE_SOCKET_URL="hostname:2096"
+VITE_EMBEDDED_BUILD=false

app/.env.web

@@ -0,0 +1,3 @@
+VITE_API_URL="leika.local"
+VITE_SOCKET_URL="leika.local"
+VITE_EMBEDDED_BUILD=false

app/.eslintrc.cjs

@@ -1,31 +1,20 @@
-/** @type { import("eslint").Linter.Config } */
 module.exports = {
 	root: true,
-	extends: [
-		'eslint:recommended',
-		'plugin:@typescript-eslint/recommended',
-		'plugin:svelte/recommended',
-		'prettier'
-	],
 	parser: '@typescript-eslint/parser',
-	plugins: ['@typescript-eslint'],
+	extends: ['eslint:recommended', 'plugin:@typescript-eslint/recommended', 'prettier'],
+	plugins: ['svelte3', '@typescript-eslint'],
+	ignorePatterns: ['*.cjs'],
+	overrides: [{ files: ['*.svelte'], processor: 'svelte3/svelte3' }],
+	settings: {
+		'svelte3/typescript': () => require('typescript')
+	},
 	parserOptions: {
 		sourceType: 'module',
-		ecmaVersion: 2020,
+		ecmaVersion: 2020
-		extraFileExtensions: ['.svelte']
 	},
 	env: {
 		browser: true,
 		es2017: true,
 		node: true
-	},
+	}
-	overrides: [
-		{
-			files: ['*.svelte'],
-			parser: 'svelte-eslint-parser',
-			parserOptions: {
-				parser: '@typescript-eslint/parser'
-			}
-		}
-	]
 };

app/.eslintrc.json

@@ -0,0 +1,15 @@
+{
+	"env": {
+		"browser": true,
+		"es2021": true
+	},
+	"extends": ["eslint:recommended", "plugin:@typescript-eslint/recommended"],
+	"overrides": [],
+	"parser": "@typescript-eslint/parser",
+	"parserOptions": {
+		"ecmaVersion": "latest",
+		"sourceType": "module"
+	},
+	"plugins": ["@typescript-eslint"],
+	"rules": {}
+}

app/.gitignore

@@ -1,10 +1,24 @@
-.DS_Store
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
 node_modules
-/build
+dist
-/.svelte-kit
+dist-ssr
-/package
+*.local
-.env
+
-.env.*
+# Editor directories and files
-!.env.example
+.vscode/*
-vite.config.js.timestamp-*
+!.vscode/extensions.json
-vite.config.ts.timestamp-*
+.idea
+.DS_Store
+*.suo
+*.ntvs*
+*.njsproj
+*.sln
+*.sw?

app/.npmrc

@@ -1 +0,0 @@
-engine-strict=true

app/.prettierignore

@@ -1,3 +1,12 @@
+.DS_Store
+node_modules
+/build
+/.svelte-kit
+/package
+.env
+.env.*
+!.env.example
+
 # Ignore files for PNPM, NPM and YARN
 pnpm-lock.yaml
 package-lock.json

app/.prettierrc

@@ -4,5 +4,6 @@
 	"trailingComma": "none",
 	"printWidth": 100,
 	"plugins": ["prettier-plugin-svelte"],
+	"pluginSearchDirs": ["."],
 	"overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }]
 }

app/.vscode/extensions.json

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

app/README.md

@@ -1,38 +1,3 @@
-# create-svelte
+# Controller App
 
-Everything you need to build a Svelte project, powered by [`create-svelte`](https://github.com/sveltejs/kit/tree/main/packages/create-svelte).
+This is the controller for my spot micro
-
-## Creating a project
-
-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
-
-# 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:
-
-```bash
-npm run dev
-
-# or start the server and open the app in a new browser tab
-npm run dev -- --open
-```
-
-## Building
-
-To create a production version of your app:
-
-```bash
-npm run build
-```
-
-You can preview the production build with `npm run preview`.
-
-> To deploy your app, you may need to install an [adapter](https://kit.svelte.dev/docs/adapters) for your target environment.

app/index.html

@@ -0,0 +1,15 @@
+<!doctype html>
+<html lang="en">
+	<head>
+		<meta charset="UTF-8" />
+		<link rel="icon" type="image/svg+xml" href="/vite.svg" />
+		<meta
+			name="viewport"
+			content="width=device-width,initial-scale=1,maximum-scale=1,user-scalable=no"
+		/>
+	</head>
+	<body>
+		<div id="app"></div>
+		<script type="module" src="/src/main.ts"></script>
+	</body>
+</html>

app/package.json

@@ -1,61 +1,55 @@
 {
-	"name": "spot_micro_controller",
+	"name": "app",
-	"version": "0.0.1",
 	"private": true,
+	"version": "0.0.0",
+	"type": "module",
 	"scripts": {
-		"dev": "vite dev --host",
+		"dev": "vite --mode embedded",
-		"build": "vite build",
+		"dev:mock_embedded": "vite --mode mock_embedded",
+		"dev:mock_web": "vite --mode mock_web",
+		"build": "vite build --mode embedded",
+		"build:mock_web": "vite build --mode mock_web",
+		"build:web": "vite build --mode web",
 		"preview": "vite preview",
-		"test": "npm run test:integration && npm run test:unit",
+		"test": "vitest --environment jsdom",
-		"check": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json",
+		"check": "svelte-check --tsconfig ./tsconfig.json",
-		"check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch",
+		"format": "prettier --plugin-search-dir . --write ."
-		"lint": "prettier --check . && eslint .",
-		"format": "prettier --write .",
-		"test:integration": "playwright test",
-		"test:unit": "vitest"
 	},
 	"devDependencies": {
-		"@iconify-json/mdi": "^1.1.64",
+		"@sveltejs/vite-plugin-svelte": "^3.0.2",
-		"@iconify-json/tabler": "^1.1.109",
+		"@tsconfig/svelte": "^5.0.2",
-		"@playwright/test": "^1.28.1",
+		"@types/three": "^0.160.0",
-		"@sveltejs/adapter-auto": "^3.0.0",
+		"@typescript-eslint/eslint-plugin": "^6.20.0",
-		"@sveltejs/adapter-static": "^3.0.1",
+		"@typescript-eslint/parser": "^6.20.0",
-		"@sveltejs/kit": "^2.5.5",
+		"autoprefixer": "^10.4.17",
-		"@sveltejs/vite-plugin-svelte": "^3.0.0",
+		"cross-env": "^7.0.3",
-		"@types/eslint": "^8.56.0",
+		"husky": "^9.0.7",
-		"@types/three": "^0.162.0",
-		"@typescript-eslint/eslint-plugin": "^7.0.0",
-		"@typescript-eslint/parser": "^7.0.0",
-		"autoprefixer": "^10.4.19",
-		"eslint": "^8.56.0",
-		"eslint-config-prettier": "^9.1.0",
-		"eslint-plugin-svelte": "^2.35.1",
 		"jsdom": "^24.0.0",
-		"postcss": "^8.4.38",
+		"lint-staged": "^15.2.0",
-		"prettier": "^3.1.1",
+		"postcss": "^8.4.33",
-		"prettier-plugin-svelte": "^3.1.2",
+		"prettier": "3.2.4",
-		"svelte": "^4.2.7",
+		"svelte": "^4.2.9",
-		"svelte-check": "^3.6.0",
+		"svelte-check": "^3.6.3",
-		"svelte-focus-trap": "^1.2.0",
+		"svelte-hero-icons": "^5.0.0",
-		"tailwindcss": "^3.4.3",
+		"tailwindcss": "^3.4.1",
-		"tslib": "^2.6.1",
+		"tslib": "^2.6.2",
-		"typescript": "^5.1.6",
+		"typescript": "^5.3.3",
-		"unplugin-icons": "^0.18.5",
+		"vite": "^5.0.12",
-		"vite": "^5.0.3",
+		"vite-plugin-compression": "^0.5.1",
-		"vitest": "^1.2.0"
+		"vite-plugin-singlefile": "^1.0.0",
+		"vitest": "^1.3.1"
 	},
-	"type": "module",
 	"dependencies": {
-		"chart.js": "^4.4.2",
-		"compare-versions": "^6.1.0",
-		"daisyui": "^4.10.2",
-		"jwt-decode": "^4.0.0",
 		"nipplejs": "^0.10.1",
-		"svelte-dnd-list": "^0.1.8",
+		"prettier-plugin-svelte": "^3.2.1",
-		"svelte-modals": "^1.3.0",
+		"svelte-routing": "^2.11.0",
-		"three": "^0.162.0",
+		"three": "^0.160.1",
 		"urdf-loader": "^0.12.1",
 		"uzip": "^0.20201231.0",
 		"xacro-parser": "^0.3.9"
+	},
+	"lint-staged": {
+		"*.js": "eslint --cache --fix",
+		"*.{js,css,md,ts,svelte}": "prettier --write"
 	}
 }

app/playwright.config.ts

@@ -1,12 +0,0 @@
-import type { PlaywrightTestConfig } from '@playwright/test';
-
-const config: PlaywrightTestConfig = {
-	webServer: {
-		command: 'pnpm run build && pnpm run preview',
-		port: 4173
-	},
-	testDir: 'tests/integration',
-	testMatch: /(.+\.)?(test|spec)\.[jt]s/
-};
-
-export default config;

app/postcss.config.js

@@ -1,5 +1,6 @@
-import tailwindcss from 'tailwindcss';
-import autoprefixer from 'autoprefixer';
 export default {
-	plugins: [tailwindcss(), autoprefixer()]
+	plugins: {
+		tailwindcss: {},
+		autoprefixer: {}
+	}
 };

app/src/App.svelte

@@ -0,0 +1,48 @@
+<script lang="ts">
+	import { Router, Route } from 'svelte-routing';
+	import { onMount } from 'svelte';
+	import TopBar from './components/TopBar.svelte';
+	import socketService from '$lib/services/socket-service';
+	import Controller from './routes/Controller.svelte';
+	import { fileService } from '$lib/services';
+	import Settings from './routes/Settings.svelte';
+	import { jointNames, model, outControllerData, mode } from '$lib/stores';
+	import { loadModelAsync, socketLocation } from '$lib/utilities';
+	import type { Result } from '$lib/utilities/result';
+
+	export let url = window.location.pathname;
+	onMount(async () => {
+		socketService.connect(socketLocation);
+		socketService.addPublisher(outControllerData);
+		socketService.addPublisher(mode, 'mode');
+
+		registerFetchIntercept();
+		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 });
+		}
+	});
+
+	const registerFetchIntercept = () => {
+		const { fetch: originalFetch } = window;
+		window.fetch = async (...args) => {
+			const [resource, config] = args;
+			let file: Result<Uint8Array | undefined, string>;
+			file = await fileService.getFile(resource.toString());
+			return file.isOk() ? new Response(file.inner) : originalFetch(resource, config);
+		};
+	};
+</script>
+
+<Router {url}>
+	<TopBar />
+	<div class="absolute w-full h-full bg-background text-on-background">
+		<Route path="/" component={Controller} />
+		<Route path="/settings/*page" component={Settings} />
+	</div>
+</Router>

app/src/app.css

@@ -1,18 +1,20 @@
-@tailwind base;
+:root {
-@tailwind components;
+	font-family: Inter, system-ui, Avenir, Helvetica, Arial, sans-serif;
-@tailwind utilities;
+	line-height: 1.5;
+	font-weight: 400;
 
-#nipple_0_0, #nipple_1_1 {
+	font-synthesis: none;
-    z-index: 10!important;
+	text-rendering: optimizeLegibility;
+	-webkit-font-smoothing: antialiased;
+	-moz-osx-font-smoothing: grayscale;
+	-webkit-text-size-adjust: 100%;
+}
+
+body {
+	margin: 0;
 }
 
 #three-gui-panel {
-    top: 64px;
+    top: 50px;
-    right: 0px;
+    right:0px
-}
-
-@media (max-width: 1023px) {
-    #three-gui-panel {
-        top: 48px;
-    }
 }

app/src/app.d.ts

@@ -1,13 +0,0 @@
-// See https://kit.svelte.dev/docs/types#app
-// for information about these interfaces
-declare global {
-	namespace App {
-		// interface Error {}
-		// interface Locals {}
-		// interface PageData {}
-		// interface PageState {}
-		// interface Platform {}
-	}
-}
-
-export {};

app/src/app.html

@@ -1,12 +0,0 @@
-<!doctype html>
-<html lang="en">
-	<head>
-		<meta charset="utf-8" />
-		<link rel="icon" href="%sveltekit.assets%/logo512.png" />
-		<meta name="viewport" content="width=device-width, initial-scale=1" />
-		%sveltekit.head%
-	</head>
-	<body data-sveltekit-preload-data="hover">
-		<div style="display: contents">%sveltekit.body%</div>
-	</body>
-</html>

app/src/components/Controls.svelte

@@ -2,15 +2,17 @@
 	import nipplejs from 'nipplejs';
 	import { onMount } from 'svelte';
 	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 } from '$lib/stores';
 	import type { vector } from '$lib/models';
+    import Range from './input/Range.svelte';
+	import Button from './input/Button.svelte';
 
 	let throttle = new throttler();
 	let left: nipplejs.JoystickManager;
 	let right: nipplejs.JoystickManager;
 
 	let throttle_timing = 40;
-	let data = new Array(8);
+	let data = new Int8Array($outControllerData.length);
 
 	onMount(() => {
 		left = nipplejs.create({
@@ -44,14 +46,14 @@
 	};
 
 	const updateData = () => {
-		data[0] = 0;
+		data[0] = 1;
-		data[1] = toInt8($input.left.x, -1, 1);
+		data[1] = 0;
-		data[2] = toInt8($input.left.y, -1, 1);
+		data[2] = toInt8($input.left.x, -1, 1);
-		data[3] = toInt8($input.right.x, -1, 1);
+		data[3] = toInt8($input.left.y, -1, 1);
-		data[4] = toInt8($input.right.y, -1, 1);
+		data[4] = toInt8($input.right.x, -1, 1);
-		data[5] = toInt8($input.height, 0, 100);
+		data[5] = toInt8($input.right.y, -1, 1);
-		data[6] = toInt8($input.speed, 0, 100);
+		data[6] = toInt8($input.height, 0, 100);
-		data[7] = toInt8($input.s1, 0, 100);
+		data[7] = toInt8($input.speed, 0, 100);
 
 		outControllerData.set(data);
 	};
@@ -68,9 +70,8 @@
 		throttle.throttle(updateData, throttle_timing);
 	};
 
-    const handleRange = (event:Event, key: 'speed' | 'height' | 's1') => {
+    const handleRange = (event:CustomEvent, key: 'speed' | 'height') => {
-        const value:number = event.target?.value
+        const value:number = event.detail
-        
         input.update((inputData) => {
 			inputData[key] = value;
 			return inputData;
@@ -79,7 +80,7 @@
     }
 
 	const changeMode = (modeValue: Modes) => {
-		mode.set(modes.indexOf(modeValue));
+		mode.set(modeValue);
 	};
 </script>
 
@@ -89,33 +90,22 @@
 		<div class="flex-1" />
 		<div id="right" class="flex w-60 items-center" />
 	</div>
-    <div class="absolute bottom-0 right-0 p-4 z-10 gap-2 flex-col hidden lg:flex">
-        <div class="flex justify-center w-full">
-            <kbd class="kbd">W</kbd>
-        </div>
-        <div class="flex justify-center gap-2 w-full">
-            <kbd class="kbd">A</kbd>
-            <kbd class="kbd">S</kbd>
-            <kbd class="kbd">D</kbd>
-        </div>
-        <div class="flex justify-center w-full">
-        </div>
-    </div>
 	<div class="absolute bottom-0 z-10 p-4 gap-4 flex items-end">
 		{#each modes as modeValue}
-            <button class="btn btn-outline" class:btn-active={$mode === modes.indexOf(modeValue)} on:click={() => changeMode(modeValue)}>
+			<div>
-                {capitalize(modeValue)}
+				<Button
-            </button>
+					on:click={() => changeMode(modeValue)}
+					active={$mode === modeValue}
+				>
+					{capitalize(modeValue)}
+				</Button>
+			</div>
 		{/each}
         <div>
-            {#if $mode === ModesEnum.Walk || $mode === ModesEnum.Crawl}
+            {#if $mode === 'walk'}
-                <label for="s1">S1</label>
+			    <Range label="Speed" on:value={(e) => handleRange(e, 'speed')}></Range>
-                <input type="range" name="s1" min="0" max="100" on:input={(e) => handleRange(e, 's1')} class="range range-sm" />
-                <label for="speed">Speed</label>
-                <input type="range" name="speed" min="0" max="100" on:input={(e) => handleRange(e, 'speed')} class="range range-sm" />
             {/if}
-            <label for="height">Height</label>
+            <Range label="Height" on:value={(e) => handleRange(e, 'height')}></Range>
-            <input type="range" name="height" min="0" max="100" on:input={(e) => handleRange(e, 'height')} class="range range-sm" />
         </div>
 	</div>
 </div>

app/src/components/Topbar.svelte

@@ -0,0 +1,84 @@
+<script lang="ts">
+	import socketService from '$lib/services/socket-service';
+	import { Icon, Bars3, XMark, Power, Battery100, Signal, SignalSlash } from 'svelte-hero-icons';
+	import { emulateModel } from '$lib/stores';
+	import { Link, useLocation } from 'svelte-routing';
+	import { isConnected } from '$lib/stores';
+
+	const views = ['Virtual environment', 'Robot camera'];
+	const modes = ['Drive', 'Choreography'];
+
+	const location = useLocation();
+
+	let selected_view = views[0];
+	let selected_modes = modes[0];
+	let settingOpen = window.location.pathname.includes('/settings');
+
+	$: emulateModel.set(selected_view === views[0]);
+	$: settingOpen = $location.pathname.includes('/settings');
+
+	const stop = () => {
+		if ($isConnected) {
+			socketService.send(JSON.stringify({ type: 'system/stop' }));
+		}
+	};
+</script>
+
+<div class="topbar absolute left-0 top-0 w-full z-10 flex justify-between bg-zinc-800">
+	<div class="flex gap-2 p-2">
+		{#if settingOpen}
+			<Link to="/">
+				<Icon src={XMark} size="32" />
+			</Link>
+		{:else}
+			<Link to="/settings">
+				<Icon src={Bars3} size="32" />
+			</Link>
+		{/if}
+		<select
+			bind:value={selected_modes}
+			class="rounded-md outline outline-2 text-zinc-200 outline-zinc-600 bg-zinc-800"
+		>
+			{#each modes as mode}
+				<option>{mode}</option>
+			{/each}
+		</select>
+
+		<select
+			bind:value={selected_view}
+			class="rounded-md outline outline-2 text-zinc-200 outline-zinc-600 bg-zinc-800"
+		>
+			{#each views as view}
+				<option>{view}</option>
+			{/each}
+		</select>
+	</div>
+
+	<div class="flex gap-2 p-2">
+		<button class="action_button bg-zinc-600">
+			<Icon src={Power} size="24" />
+		</button>
+		<button class="action_button"><Icon src={Battery100} size="24" /></button>
+		<button class="action_button"
+			><Icon src={$isConnected ? Signal : SignalSlash} size="24" /></button
+		>
+	</div>
+	<div>
+		<button class="h-full w-20 bg-red-600 text-white" on:click={stop}>STOP</button>
+	</div>
+</div>
+
+<style>
+	.topbar {
+		height: 50px;
+	}
+	.action_button {
+		border-radius: 4px;
+		width: 34px;
+		height: 34px;
+		display: flex;
+		justify-content: center;
+		align-items: center;
+		outline: 1px solid #52525b;
+	}
+</style>

app/src/components/Views/Model.svelte

@@ -0,0 +1,180 @@
+<script lang="ts">
+	import { onDestroy, onMount } from 'svelte';
+	import { BufferGeometry, CanvasTexture, CircleGeometry, CubicBezierCurve3, Line, LineBasicMaterial, Mesh, MeshBasicMaterial, Vector3, type NormalBufferAttributes } from 'three';
+	import socketService from '$lib/services/socket-service';
+	import uzip from 'uzip';
+	import { model } from '$lib/stores';
+	import { footColor, isEmbeddedApp, location, toeWorldPositions } from '$lib/utilities';
+	import { fileService } from '$lib/services';
+	import { servoAngles, mpu, jointNames } from '$lib/stores';
+	import SceneBuilder from '$lib/sceneBuilder';
+	import { lerp, degToRad } from 'three/src/math/MathUtils';
+    import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
+
+	let sceneManager = new SceneBuilder();
+	let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImageElement;
+	let context: CanvasRenderingContext2D, texture: CanvasTexture;
+
+	let modelAngles: number[] | Int16Array = new Array(12).fill(0);
+	let modelTargetAngles: number[] | Int16Array = new Array(12).fill(0);
+
+    let feet_trace = new Array(4).fill([]);
+    let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
+
+	const videoStream = `//${location}/api/stream`;
+
+	let showStream = false;
+
+    let settings = {
+        'Trace feet':true,
+        'Trace points': 30,
+        'Fix camera on robot': true
+    }
+
+	onMount(async () => {
+        await cacheModelFiles()
+        await createScene();
+        if (!isEmbeddedApp) createPanel();
+	});
+
+	onDestroy(() => {
+		canvas.remove();
+	});
+
+    const createPanel = () => {
+        const panel = new GUI({width: 310});
+        panel.close();
+        panel.domElement.id = 'three-gui-panel';
+ 
+        const visibility = panel.addFolder('Visualization');
+        visibility.add(settings, 'Trace feet')
+        visibility.add(settings, 'Trace points', 1, 1000, 1)
+        visibility.add(settings, 'Fix camera on robot')
+    }
+
+	const cacheModelFiles = async () => {
+		let data = await fetch('/stl.zip').then((data) => data.arrayBuffer());
+
+		var files = uzip.parse(data);
+
+		for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
+			const url = new URL(path, window.location.href);
+			fileService.saveFile(url.toString(), data);
+		}
+	};
+
+	const updateAngles = (name: string, angle: number) => {
+		modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
+		socketService.send(
+			JSON.stringify({
+				type: 'kinematic/angle',
+				angle: angle * (180 / Math.PI),
+				id: $jointNames.indexOf(name)
+			})
+		);
+	};
+
+	const createScene = async () => {
+		sceneManager
+			.addRenderer({ antialias: true, canvas: canvas, alpha: true })
+			.addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
+			.addOrbitControls(8, 30)
+			.addSky()
+			.addGroundPlane()
+			.addGridHelper({ size: 250, divisions: 125 })
+			.addAmbientLight({ color: 0xffffff, intensity: 0.7 })
+			.addDirectionalLight({ x: 10, y: 100, z: 10, color: 0xffffff, intensity: 1 })
+			.addArrowHelper({ origin: { x: 0, y: 0, z: 0 }, direction: { x: 0, y: -2, z: 0 } })
+			.addFogExp2(0xcccccc, 0.015)
+			.addModel($model)
+			.addDragControl(updateAngles)
+			.handleResize()
+			.addRenderCb(render)
+			.startRenderLoop();
+
+		addVideoStream();
+
+		for (let i = 0; i < 4; i++) {
+			const geometry = new BufferGeometry();
+			const material = new LineBasicMaterial({ color: footColor() });
+			const line = new Line(geometry, material);
+			trace_lines.push(geometry);
+			sceneManager.scene.add(line);
+		}
+	};
+
+	const addVideoStream = () => {
+		context = streamCanvas.getContext('2d')!;
+		texture = new CanvasTexture(stream);
+		const liveStream = new Mesh(
+			new CircleGeometry(35, 32),
+			new MeshBasicMaterial({ map: texture })
+		);
+		liveStream.position.z = -50;
+		liveStream.visible = showStream;
+		sceneManager.scene.add(liveStream);
+	};
+
+	const handleVideoStream = () => {
+		if (!showStream) return;
+		context.drawImage(stream, 0, 0);
+		texture.needsUpdate = true;
+	};
+
+    const renderTraceLines = (foot_positions: Vector3[]) => {
+        if (!settings['Trace feet']) {
+            if (!feet_trace.length) return 
+            trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
+            feet_trace = new Array(4).fill([])
+            return
+        }
+        
+        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]);
+        })
+    }
+
+	const render = () => {
+		const robot = sceneManager.model;
+		if (!robot) return;
+
+        const toes = toeWorldPositions(robot)
+
+        renderTraceLines(toes)
+
+        if (settings['Fix camera on robot']) {
+            sceneManager.controls.target = robot.position.clone()
+        }
+
+		robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
+		robot.rotation.z = lerp(robot.rotation.z, degToRad($mpu.heading + 90), 0.1);
+		modelTargetAngles = $servoAngles;
+
+		handleVideoStream();
+
+		for (let i = 0; i < $jointNames.length; i++) {
+			modelAngles[i] = lerp(
+				(robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
+				modelTargetAngles[i],
+				0.1
+			);
+			robot.joints[$jointNames[i]].setJointValue(degToRad(modelAngles[i]));
+		}
+	};
+</script>
+
+<svelte:window on:resize={sceneManager.handleResize} />
+
+{#if showStream}
+	<img
+		bind:this={stream}
+		src={videoStream}
+		class="hidden"
+		alt="Live stream is down"
+		crossorigin="anonymous"
+	/>
+{/if}
+<canvas bind:this={streamCanvas} class="hidden"></canvas>
+<canvas bind:this={canvas} class="absolute"></canvas>

app/src/components/input/Button.svelte

@@ -0,0 +1,11 @@
+<script lang="ts">
+    export let active = false
+</script>
+
+<button
+    on:click
+    class={$$restProps.class + ' rounded-md outline outline-2 text-zinc-200 outline-zinc-600 p-2' + 
+        (active ? ' bg-zinc-600' : '')}
+>
+<slot/>
+</button>

app/src/components/input/Range.svelte

@@ -0,0 +1,29 @@
+<script lang="ts">
+    import { createEventDispatcher } from 'svelte'
+    const dispatch = createEventDispatcher()
+
+	export let value = 50;
+	export let min = 0;
+	export let max = 100;
+	export let label = '';
+
+    const dispatchValueInput = () => {
+        dispatch('value', value)
+    }
+</script>
+
+<div class="">
+	<input
+		id="range"
+		type="range"
+		{min}
+		{max}
+		bind:value
+        on:change
+        on:input={dispatchValueInput}
+		class="w-32 h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700"
+	/>
+</div>
+<label for="range" class="block mb-2 text-sm font-medium text-gray-900 dark:text-white">{label}</label
+>
+

app/src/components/settings/Calibration.svelte

@@ -0,0 +1,86 @@
+<script lang="ts">
+	import { onMount } from 'svelte';
+	import { jointNames } from '../../lib/stores';
+
+	type Servo = {
+		id: number;
+		name: string;
+		minPWM: number;
+		maxPWM: number;
+		pwmFor180: number;
+	};
+
+	let servos: Servo[] = [];
+
+	onMount(() => {
+		jointNames.subscribe((data) => {
+			servos = data.map((name: string, i: number) => {
+				return {
+					id: i,
+					name,
+					minPWM: 0,
+					maxPWM: 0,
+					pwmFor180: 0
+				};
+			});
+		});
+	});
+
+	let selectedServo: number | null = null;
+
+	function updateServoValue(index: number, field: keyof Servo, value: number): void {
+		servos[index] = { ...servos[index], [field]: value };
+	}
+
+	const formatServo = (servo: Servo) => {
+		const string = servo.name;
+		const name = string.charAt(0).toUpperCase() + string.split('_').join(' ').slice(1);
+		return `${servo.id} ${name}`;
+	};
+</script>
+
+<div>
+	<div class="servo-selector">
+		<label for="servo-select">Select Servo:</label>
+		<select id="servo-select" class="bg-zinc-800" bind:value={selectedServo}>
+			{#each servos as servo}
+				<option value={servo.id}>{formatServo(servo)}</option>
+			{/each}
+		</select>
+	</div>
+
+	{#if selectedServo !== null}
+		<div class="mt-5">
+			<h2>Servo {formatServo(servos[selectedServo])} Calibration</h2>
+			<label for="minPWM">Min PWM:</label>
+			<input
+				type="number"
+				id="minPWM"
+				class="bg-zinc-800"
+				value={servos[selectedServo].minPWM}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'minPWM', Number(event.target?.value))}
+			/>
+
+			<label for="maxPWM">Max PWM:</label>
+			<input
+				type="number"
+				id="maxPWM"
+				class="bg-zinc-800"
+				value={servos[selectedServo].maxPWM}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'maxPWM', Number(event.target?.value))}
+			/>
+
+			<label for="pwmFor180">PWM for 180°:</label>
+			<input
+				type="number"
+				id="pwmFor180"
+				class="bg-zinc-800"
+				value={servos[selectedServo].pwmFor180}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'pwmFor180', Number(event.target?.value))}
+			/>
+		</div>
+	{/if}
+</div>

app/src/components/settings/Configuration.svelte

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

app/src/components/settings/Info.svelte

@@ -0,0 +1,28 @@
+<script lang="ts">
+	import { onMount } from 'svelte';
+	import { humanFileSize } from '$lib/utilities';
+	import socketService from '$lib/services/socket-service';
+	import { isConnected, systemInfo } from '$lib/stores';
+
+	onMount(() => {
+		if ($isConnected) {
+			const message = JSON.stringify({ type: 'system/info' });
+			socketService.send(message);
+		}
+	});
+</script>
+
+<div class="w-full h-full">
+	<div class="w-1/3">
+		{#each Object.entries($systemInfo ?? {}) as entry}
+			<div class="flex gap-8">
+				<div class="w-32">{entry[0]}:</div>
+				{#if entry[0].includes('Size') || entry[0].includes('Free') || entry[0].includes('Min')}
+					<div>{humanFileSize(entry[1])}</div>
+				{:else}
+					<div>{entry[1]}</div>
+				{/if}
+			</div>
+		{/each}
+	</div>
+</div>

app/src/components/settings/Log.svelte

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

app/src/index.css

@@ -0,0 +1,35 @@
+@tailwind base;
+@tailwind components;
+@tailwind utilities;
+
+/* @layer base {
+    :root {
+        --primary: 98 0 238;
+        --primary-variant: 55 0 179;
+        --secondary: 55 0 179;
+        --secondary-variant: 55 0 179;
+        --background: 255 255 255;
+        --surface: 251 251 250;
+        --error: 176 0 32;
+        --on-primary: 255 255 255;
+        --on-secondary: 0 0 0;
+        --on-background: 0 0 0;
+        --on-surface: 0 0 0;
+        --on-error: 255 255 255;
+    }
+  
+    :root[class~="dark"] {
+        --primary: 98 0 238;
+        --primary-variant: 55 0 179;
+        --secondary: 55 0 179;
+        --secondary-variant: 55 0 179;
+        --background: 30 30 30;
+        --surface: 36 36 36;
+        --error: 176 0 32;
+        --on-primary: 255 255 255;
+        --on-secondary: 255 255 255;
+        --on-background: 255 255 255;
+        --on-surface: 255 255 255;
+        --on-error: 255 255 255;
+    }
+  } */

app/src/index.test.ts

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

app/src/lib/DaisyUiHelper.ts

@@ -1,4 +0,0 @@
-export function daisyColor(name: string, opacity: number = 100) {
-	const color = getComputedStyle(document.documentElement).getPropertyValue(name);
-	return `oklch(${color} / ${opacity}%)`;
-}

app/src/lib/api.ts

@@ -1,73 +0,0 @@
-import { user } from '$lib/stores/user';
-import { get } from 'svelte/store';
-import { Err, Ok, type Result } from './utilities';
-
-export namespace api {
-	export function get<TResponse>(endpoint: string, params?: RequestInit) {
-		return sendRequest<TResponse>(endpoint, 'GET', null, params);
-	}
-
-	export function post<TResponse>(endpoint: string, data?: unknown) {
-		return sendRequest<TResponse>(endpoint, 'POST', data);
-	}
-
-	export function put<TResponse>(endpoint: string, data?: unknown) {
-		return sendRequest<TResponse>(endpoint, 'PUT', data);
-	}
-
-	export function remove<TResponse>(endpoint: string) {
-		return sendRequest<TResponse>(endpoint, 'DELETE');
-	}
-}
-
-async function sendRequest<TResponse>(
-	endpoint: string,
-	method: string,
-	data?: unknown,
-	params?: RequestInit
-): Promise<Result<TResponse, Error>> {
-	const user_token = get(user).bearer_token;
-	const body = data !== null && typeof data !== 'undefined' ? JSON.stringify(data) : undefined;
-
-	const request = {
-		...params,
-		method,
-		body,
-		headers: {
-			...params?.headers,
-			Authorization: user_token ? 'Bearer ' + user_token : 'Basic',
-			'Content-Type': 'application/json'
-		}
-	};
-
-	let response;
-
-	try {
-		response = await fetch(endpoint, request);
-	} catch (error) {
-		return Err.new(new Error(), 'An error has occurred');
-	}
-
-	const isResponseOk = response.status >= 200 && response.status < 400;
-	if (!isResponseOk) {
-		if (response.status === 401) {
-			return Err.new(new ApiError(response), 'User was not authorized');
-		}
-		return Err.new(new ApiError(response), 'An error has occurred');
-	}
-
-	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);
-	} else {
-		// Handle empty object as response
-		return Ok.new(null as TResponse);
-	}
-}
-
-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

@@ -1,43 +0,0 @@
-<script lang="ts">
-	import { slide } from 'svelte/transition';
-	import { cubicOut } from 'svelte/easing';
-	import Down from '~icons/tabler/chevron-down';
-	import { createEventDispatcher } from 'svelte';
-
-	const dispatch = createEventDispatcher();
-
-	function openCollapsible() {
-		open = !open;
-		if (open) {
-			dispatch('opened');
-		} else {
-			dispatch('closed');
-		}
-	}
-
-	export let open = false;
-</script>
-
-<div class="{$$props.class || ''} 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">
-		<span class="inline-flex items-baseline">
-			<slot name="icon" />
-			<slot name="title" />
-		</span>
-		<button class="btn btn-circle btn-ghost btn-sm" on:click={() => openCollapsible()}>
-			<Down
-				class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open
-					? 'rotate-180'
-					: ''}"
-			/>
-		</button>
-	</div>
-	{#if open}
-		<div
-			class="flex flex-col gap-2 p-4 pt-0"
-			transition:slide|local={{ duration: 300, easing: cubicOut }}
-		>
-			<slot />
-		</div>
-	{/if}
-</div>

app/src/lib/components/ConfirmDialog.svelte

@@ -1,52 +0,0 @@
-<script lang="ts">
-	import { closeModal } from 'svelte-modals';
-	import { focusTrap } from 'svelte-focus-trap';
-	import { fly } from 'svelte/transition';
-	import Cancel from '~icons/tabler/x';
-	import Check from '~icons/tabler/check';
-
-	// provided by <Modals />
-	export let isOpen: boolean;
-
-	export let title: string;
-	export let message: string;
-	export let onConfirm: any;
-	export let labels = {
-		cancel: { label: 'Cancel', icon: Cancel },
-		confirm: { label: 'OK', icon: Check }
-	};
-</script>
-
-{#if isOpen}
-	<div
-		role="dialog"
-		class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
-		transition:fly={{ y: 50 }}
-		on:introstart
-		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" />
-			<p class="text-base-content mb-1 text-start">{message}</p>
-			<div class="divider my-2" />
-			<div class="flex justify-end gap-2">
-				<button class="btn btn-primary inline-flex items-center" on:click={closeModal}
-					><svelte:component this={labels.cancel.icon} class="mr-2 h-5 w-5" /><span
-						>{labels?.cancel.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>
-{/if}

app/src/lib/components/GithubUpdateDialog.svelte

@@ -1,92 +0,0 @@
-<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';
-
-	// provided by <Modals />
-	export let isOpen: boolean;
-
-	let updating = true;
-
-	let progress = 0;
-	$: if ($telemetry.download_ota.status == 'progress') {
-		progress = $telemetry.download_ota.progress;
-	}
-
-	$: if ($telemetry.download_ota.status == 'error') {
-		updating = false;
-	}
-
-	let message = 'Preparing ...';
-	let timerId: number;
-
-	$: if ($telemetry.download_ota.status == 'progress') {
-		message = 'Downloading ...';
-	} else if ($telemetry.download_ota.status == 'error') {
-		message = $telemetry.download_ota.error;
-	} else if ($telemetry.download_ota.status == 'finished') {
-		message = 'Restarting ...';
-		progress = 0;
-		// Reload page after 5 sec
-		timerId = setTimeout(() => {
-			closeAllModals();
-			location.reload();
-		}, 5000);
-	}
-
-	onBeforeClose(() => {
-		if (updating) {
-			// prevents modal from closing
-			return false;
-		} else {
-			$telemetry.download_ota.status = 'idle';
-			$telemetry.download_ota.error = '';
-			$telemetry.download_ota.progress = 0;
-			return true;
-		}
-	});
-</script>
-
-{#if isOpen}
-	<div
-		role="dialog"
-		class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
-		transition:fly={{ y: 50 }}
-		on:introstart
-		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="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" />
-					{:else}
-						<progress class="progress progress-primary w-56" />
-					{/if}
-					<p class="mt-8 text-2xl">{message}</p>
-				</div>
-			</div>
-			<div class="divider my-2" />
-			<div class="flex flex-wrap justify-end gap-2">
-				<div class="flex-grow" />
-				<button
-					class="btn btn-warning text-warning-content inline-flex flex-none items-center"
-					disabled={updating}
-					on:click={() => {
-						closeAllModals();
-						location.reload();
-					}}
-				>
-					<Cancel class="mr-2 h-5 w-5" /><span>Close</span></button
-				>
-			</div>
-		</div>
-	</div>
-{/if}

app/src/lib/components/InfoDialog.svelte

@@ -1,42 +0,0 @@
-<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';
-
-	// provided by <Modals />
-	export let isOpen: boolean;
-
-	export let title: string;
-	export let message: string;
-	export let onDismiss: any;
-	export let dismiss = { label: 'Dismiss', icon: Check };
-</script>
-
-{#if isOpen}
-	<div
-		role="dialog"
-		class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
-		transition:fly={{ y: 50 }}
-		on:introstart
-		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" />
-			<p class="text-base-content mb-1 text-start">{message}</p>
-			<div class="divider my-2" />
-			<div class="flex justify-end gap-2">
-				<button
-					class="btn btn-warning text-warning-content inline-flex items-center"
-					on:click={onDismiss}
-					><svelte:component this={dismiss.icon} class="mr-2 h-5 w-5" /><span>{dismiss.label}</span
-					></button
-				>
-			</div>
-		</div>
-	</div>
-{/if}

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/Lidar.svelte

@@ -1,77 +0,0 @@
-<script lang="ts">
-	import { onMount } from "svelte";
-    import { lidar, type LidarPoint } from '$lib/stores/lidar'
-
-    function getIntersection(angle:number, size:number):number {
-            const sinAngle = Math.sin(angle);
-            const cosAngle = Math.cos(angle);
-
-            let x, y;
-            if (Math.abs(cosAngle) > Math.abs(sinAngle)) {
-                x = size * Math.sign(cosAngle);
-                y = x * sinAngle / cosAngle;
-            } else {
-                y = size * Math.sign(sinAngle);
-                x = y * cosAngle / sinAngle;
-            }
-
-            return Math.sqrt(x**2 + y**2);
-        }
-
-
-    let canvas:HTMLCanvasElement
-    let ctx
-
-    const DEG2RAD = 0.017453292519943;
-
-    onMount(() => {
-        ctx = canvas.getContext("2d")
-        resize()      
-        lidar.subscribe(lidar => {
-            draw(lidar.points)
-        })
-    })
-
-    const draw = (points:LidarPoint[]) => {
-        if(!points) return
-        const centerX = canvas.width / 2
-        const centerY = canvas.height / 2
-        
-        const scale = 0.01//Math.max(centerX, centerY) / Math.max(...points.map((point) => point.distance))
-
-        if (!ctx) return
-        ctx.clearRect(0, 0, canvas.width, canvas.height);
-        for (let i = 0; i < points.length; i++){
-            const angle = points[i].angle
-            const distance = points[i].distance
-            const quality = points[i].quality
-
-            const endX = centerX + (distance * scale) * Math.cos(angle * DEG2RAD);
-            const endY = centerY - (distance * scale) * Math.sin(angle * DEG2RAD);
-
-            ctx.beginPath();
-            ctx.moveTo(centerX, centerY);
-            ctx.lineTo(endX, endY);
-            ctx.strokeStyle = "grey"
-            ctx.stroke();
-
-            ctx.beginPath();
-            ctx.arc(endX, endY, 3, 0, Math.PI * 2);
-            ctx.fillStyle = "#1bfc06"
-            ctx.fill();
-        }
-    }
-
-    const resize = () => {
-        const parentElement = canvas.parentElement;
-		if (parentElement) {
-			canvas.width = parentElement.clientWidth
-            canvas.height = parentElement.clientHeight
-		}
-    }
-
-</script>
-
-<svelte:window on:resize={resize}></svelte:window>
-
-<canvas bind:this={canvas} class="w-full h-full"></canvas>

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 +0,0 @@
-<script lang="ts">
-	import { slide } from 'svelte/transition';
-	import { cubicOut } from 'svelte/easing';
-	import Down from '~icons/tabler/chevron-down';
-	export let open = true;
-	export let collapsible = true;
-</script>
-
-{#if collapsible}
-	<div
-		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"
-		>
-			<span class="inline-flex items-baseline">
-				<slot name="icon" />
-				<slot name="title" />
-			</span>
-			<button
-				class="btn btn-circle btn-ghost btn-sm"
-				on:click={() => {
-					open = !open;
-				}}
-			>
-				<Down
-					class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open
-						? 'rotate-180'
-						: ''}"
-				/>
-			</button>
-		</div>
-		{#if open}
-			<div
-				class="flex flex-col gap-2 p-4 pt-0"
-				transition:slide|local={{ duration: 300, easing: cubicOut }}
-			>
-				<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"
-	>
-		<div class="min-h-16 w-full p-4 text-xl font-medium">
-			<span class="inline-flex items-baseline">
-				<slot name="icon" />
-				<slot name="title" />
-			</span>
-		</div>
-		<div class="flex flex-col gap-2 p-4 pt-0">
-			<slot />
-		</div>
-	</div>
-{/if}

app/src/lib/components/Spinner.svelte

@@ -1,8 +0,0 @@
-<script lang="ts">
-	import Loader from '~icons/tabler/loader-2';
-</script>
-
-<div class="flex h-full w-full flex-col items-center justify-center p-6">
-	<Loader class="text-primary h-14 w-auto animate-spin stroke-2" />
-	<p class="text-xl">Loading...</p>
-</div>

app/src/lib/components/Stream.svelte

@@ -1,21 +0,0 @@
-<script lang="ts">
-	import { user } from '$lib/stores/user';
-	import { onDestroy } from 'svelte';
-
-	const ws_token = `?access_token=${$user.bearer_token}`
-
-    let source = "/api/camera/stream"+ ws_token;
-
-	onDestroy(() => {
-		source = '#';
-	});
-</script>
-
-<div class="w-full h-full">
-	<img
-		src={source}
-		class="absolute object-cover blur-3xl w-full h-full -z-10"
-		alt="Live stream is down"
-	/>
-	<img src={source} class="object-contain w-full h-full" alt="Live stream is down" />
-</div>

app/src/lib/components/Toast.svelte

@@ -1,37 +0,0 @@
-<script>
-	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 success from '~icons/tabler/circle-check';
-	import warning from '~icons/tabler/alert-triangle';
-	import info from '~icons/tabler/info-circle';
-
-	export let theme = {
-		error: 'alert-error',
-		success: 'alert-success',
-		warning: 'alert-warning',
-		info: 'alert-info'
-	};
-
-	export let icon = {
-		error: error,
-		success: success,
-		warning: warning,
-		info: info
-	};
-</script>
-
-<div class="toast toast-end mr-4">
-	{#each $notifications as notification (notification.id)}
-		<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" />
-			<span>{notification.message}</span>
-		</div>
-	{/each}
-</div>

app/src/lib/components/TopBar.svelte

@@ -1,17 +0,0 @@
-<script lang="ts">
-    import MdiHamburgerMenu from '~icons/mdi/hamburger-menu';
-</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"/>
-        </a>
-    </div>
-</div>
-
-<style>
-	.topbar {
-		height: 50px;
-	}
-</style>

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

@@ -1,308 +0,0 @@
-<script lang="ts">
-	import { onDestroy, onMount } from 'svelte';
-	import { BufferGeometry, Line, LineBasicMaterial, Mesh, MeshBasicMaterial, Object3D, SphereGeometry, Vector3, type NormalBufferAttributes, type Object3DEventMap } from 'three';
-	import uzip from 'uzip';
-	import { ModesEnum, kinematicData, mode, model, outControllerData, servoAnglesOut, servoAngles, mpu, jointNames } from '$lib/stores';
-	import { footColor, isEmbeddedApp, throttler, toeWorldPositions } from '$lib/utilities';
-	import { fileService } from '$lib/services';
-	import SceneBuilder from '$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 '$lib/kinematic';
-    import {EightPhaseWalkState, FourPhaseWalkState, IdleState, RestState, StandState} from '$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
-    export let orbit = false
-    export let panel = true
-    export let debug = false
-    export let ground = true
-
-	let sceneManager = new SceneBuilder();
-	let canvas: HTMLCanvasElement
-
-	let currentModelAngles: number[] = new Array(12).fill(0);
-	let modelTargetAngles: number[] = new Array(12).fill(0)
-    let gui_panel: GUI
-    let Throttler = new throttler()
-
-    let feet_trace = new Array(4).fill([]);
-    let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
-    let target: Object3D<Object3DEventMap>;
-
-    let target_position = {x: 0, z: 0, yaw: 0}
-
-    let kinematic = new Kinematic()
-
-    let planners = {
-        [ModesEnum.Idle]: new IdleState(),
-        [ModesEnum.Rest]: new RestState(),
-        [ModesEnum.Stand]: new StandState(),
-        [ModesEnum.Crawl]: new EightPhaseWalkState(),
-        [ModesEnum.Walk]: new FourPhaseWalkState()
-    }
-    let lastTick = performance.now()
-
-    const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
-
-    let body_state = {
-        omega: 0,
-        phi: 0,
-        psi: 0,
-        xm: 0,
-        ym: 0.5,
-        zm: 0,
-        feet: planners[ModesEnum.Idle].default_feet_pos
-    }
-
-    let settings = {
-        'Internal kinematic':false,
-        'Robot transform controls':false,
-        'Auto orient robot':true,
-        'Trace feet':debug,
-        'Trace points': 30,
-        'Fix camera on robot': true,
-        'Smooth motion': true,
-        'omega': 0,
-        'phi': 0,
-        'psi': 0,
-        'xm': 0,
-        'ym': 0.7,
-        'zm': 0,
-        'Background': "black"
-    }
-
-	onMount(async () => {
-        await cacheModelFiles()
-        await createScene();
-        if (!isEmbeddedApp && panel) createPanel();
-        servoAngles.subscribe(updateAnglesFromStore)
-	});
-
-    onDestroy(() => {
-        canvas.remove()
-        gui_panel?.destroy()
-    });
-    
-    const updateAnglesFromStore = (angles: number[]) => {
-        if (sceneManager.isDragging) return
-        if (settings['Internal kinematic']) return
-        modelTargetAngles = angles;
-    }
-
-    const createPanel = () => {
-        gui_panel = new GUI({width: 310});
-        gui_panel.close();
-        gui_panel.domElement.id = 'three-gui-panel';
-
-        const general = gui_panel.addFolder('General');
-        general.add(settings, 'Internal kinematic')
-        general.add(settings, 'Robot transform controls')
-        general.add(settings, 'Auto orient robot')
-
-        const kinematic = gui_panel.addFolder('Kinematics');
-        kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen();
-        kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen();
-        kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen();
-        kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
- 
-        const visibility = gui_panel.addFolder('Visualization');
-        visibility.add(settings, 'Trace feet')
-        visibility.add(settings, 'Trace points', 1, 1000, 1)
-        visibility.add(settings, 'Smooth motion')
-        visibility.addColor(settings, 'Background')
-    }
-
-    const updateKinematicPosition = () => {
-        kinematicData.set([
-            settings.omega,
-            settings.phi,
-            settings.psi,
-            settings.xm,
-            settings.ym,
-            settings.zm
-        ])
-    }
-
-	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[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
-        Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
-	};
-
-	const createScene = async () => {
-		sceneManager
-			.addRenderer({ antialias: true, canvas, alpha: true })
-			.addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
-			.addOrbitControls(8, 30, orbit)
-            .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 0.9 })
-			.addAmbientLight({ color: 0xffffff, intensity: 0.6 })
-			.addFogExp2(0xcccccc, 0.015)
-			.addModel($model)
-            .addTransformControls(sceneManager.model)
-			.fillParent()
-			.addRenderCb(render)
-			.startRenderLoop();
-            
-        if (ground) sceneManager
-			.addGroundPlane()
-            .addGridHelper({ size: 30, divisions: 25 })
-        
-        
-        const geometry = new SphereGeometry(0.1, 32, 16 ); 
-        const material = new MeshBasicMaterial( { color: 0xffff00 } ); 
-        target = new Mesh(geometry, material); 
-
-        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 material = new LineBasicMaterial({ color: footColor() });
-			const line = new Line(geometry, material);
-			trace_lines.push(geometry);
-			sceneManager.scene.add(line);
-		}
-	};
-
-    const renderTraceLines = (foot_positions: Vector3[]) => {
-        if (!settings['Trace feet']) {
-            if (!feet_trace.length) return 
-            trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
-            feet_trace = new Array(4).fill([])
-            return
-        }
-        
-        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]);
-        })
-    }
-
-    const calculate_kinematics = () => {
-        if (sceneManager.isDragging || !settings['Internal kinematic']) return
-        const position:body_state_t = {
-            omega: settings.omega,
-            phi: settings.phi,
-            psi: settings.psi,
-            xm: settings.xm,
-            ym: settings.ym,
-            zm: settings.zm,
-            feet: body_state.feet
-        }
-
-        let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]));
-        modelTargetAngles = new_angles;
-    }
-
-    const orient_robot = (robot: URDFRobot, toes:Vector3[]) => {
-        if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
-        robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
-
-        robot.position.z = smooth(robot.position.z, -settings.xm, 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.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1);
-        robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1);
-    }
-
-    const update_camera = (robot:URDFRobot) => {
-        if (!settings['Fix camera on robot']) return
-        sceneManager.orbit.target = robot.position.clone()
-    }
-
-    const smooth = (start:number, end:number, amount:number) => {
-        return settings['Smooth motion'] ? lerp(start, end, amount) : end
-    }
-
-    const update_gait = () => {
-        if (sceneManager.isDragging || !settings['Internal kinematic']) return
-        const controlData = get(outControllerData)
-        const data = {
-            stop: controlData[0],
-            lx: controlData[1],
-            ly: controlData[2],
-            rx: controlData[3],
-            ry: controlData[4],
-            h: controlData[5],
-            s: controlData[6],
-        };
-        body_state.ym = ((data.h + 127) * 0.75) / 100;
-
-        let planner = planners[get(mode)]
-        const delta = performance.now() - lastTick
-        lastTick = performance.now()
-        
-        body_state = planner.step(body_state, data, delta);
-
-        settings.omega = body_state.omega
-        settings.phi = body_state.phi
-        settings.psi = body_state.psi 
-        settings.xm = body_state.xm
-        settings.ym = body_state.ym
-        settings.zm = body_state.zm
-    }
-
-    const update_robot_position = (robot:URDFRobot) => {
-        if (!settings['Robot transform controls']) return
-        settings.omega = radToDeg(robot.rotation.y)
-        settings.phi = radToDeg(robot.rotation.z) + $mpu.heading -90
-        settings.psi = radToDeg(robot.rotation.x) + 90
-        settings.xm = robot.position.z * 100
-        settings.zm = -robot.position.x * 100
-    }
-
-    const updateTargetPosition = () => {
-        target.position.x = smooth(target.position.x, target_position.x, 0.5)
-        target.position.z = smooth(target.position.z, target_position.z, 0.5)
-    }
-
-	const render = () => {
-		const robot = sceneManager.model;
-		if (!robot) return;
-
-        const toes = toeWorldPositions(robot)
-
-        renderTraceLines(toes)
-        update_camera(robot)
-        update_gait()
-        calculate_kinematics()
-        update_robot_position(robot)
-        
-        sceneManager.transformControl.showX = settings['Robot transform controls']
-        sceneManager.transformControl.showY = settings['Robot transform controls']
-        sceneManager.transformControl.showZ = settings['Robot transform controls']
-        
-		for (let i = 0; i < $jointNames.length; i++) {
-            currentModelAngles[i] = smooth((robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI), modelTargetAngles[i], 0.1);
-            robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]));
-        }
-
-        orient_robot(robot, toes) 
-        updateTargetPosition();
-	};
-
-</script>
-
-<svelte:window on:resize={sceneManager.fillParent} />
-
-<canvas bind:this={canvas}></canvas>

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

@@ -1,37 +0,0 @@
-<script>
-	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 success from '~icons/tabler/circle-check';
-	import warning from '~icons/tabler/alert-triangle';
-	import info from '~icons/tabler/info-circle';
-
-	export let theme = {
-		error: 'alert-error',
-		success: 'alert-success',
-		warning: 'alert-warning',
-		info: 'alert-info'
-	};
-
-	export let icon = {
-		error: error,
-		success: success,
-		warning: warning,
-		info: info
-	};
-</script>
-
-<div class="toast toast-end mr-4 z-20">
-	{#each $notifications as notification (notification.id)}
-		<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" />
-			<span>{notification.message}</span>
-		</div>
-	{/each}
-</div>

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

@@ -1,42 +0,0 @@
-import { writable, derived, type Writable } from 'svelte/store';
-
-type StateType = 'info' | 'success' | 'warning' | 'error';
-
-type State = {
-	id: string;
-	type: StateType;
-	message: string;
-};
-
-function createNotificationStore() {
-	const state: State[] = [];
-	const notifications = writable(state);
-	const { subscribe } = notifications;
-
-	function send(message: string, type: StateType = 'info', timeout: number) {
-		const id = generateId();
-		setTimeout(() => {
-			notifications.update((state) => {
-				return state.filter((n) => n.id !== id);
-			});
-		}, timeout);
-		notifications.update((state) => {
-			return [...state, { id, type, message }];
-		});
-	}
-
-	return {
-		subscribe,
-		send,
-		error: (msg: string, timeout: number) => send(msg, 'error', timeout),
-		warning: (msg: string, timeout: number) => send(msg, 'warning', timeout),
-		info: (msg: string, timeout: number) => send(msg, 'info', timeout),
-		success: (msg: string, timeout: number) => send(msg, 'success', timeout)
-	};
-}
-
-function generateId() {
-	return '_' + Math.random().toString(36).substr(2, 9);
-}
-
-export const notifications = createNotificationStore();

app/src/lib/gait.ts

@@ -1,242 +0,0 @@
-import type { body_state_t } from './kinematic';
-import { fromInt8 } from './utilities';
-
-const { sin } = Math;
-
-export interface gait_state_t {
-	step_height: number;
-	step_x: number;
-	step_z: number;
-	step_angle: number;
-	step_velocity: number;
-	step_depth: number;
-}
-
-export interface ControllerCommand {
-	stop: number;
-	lx: number;
-	ly: number;
-	rx: number;
-	ry: number;
-	h: number;
-	s: number;
-}
-
-export abstract class GaitState {
-	protected abstract name: string;
-
-	protected static body_state: body_state_t;
-
-	public get default_feet_pos() {
-		return [
-			[1, -1, 1, 1],
-			[1, -1, -1, 1],
-			[-1, -1, 1, 1],
-			[-1, -1, -1, 1]
-		];
-	}
-
-	protected get default_height() {
-		return 0.5;
-	}
-
-	begin() {
-		console.log('Starting', this.name);
-	}
-	end() {
-		console.log('Ending', this.name);
-	}
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return body_state;
-	}
-
-	map_command(command: ControllerCommand): gait_state_t {
-		return {
-			step_height: 0.4 + Math.abs(command.ry / 128),
-			step_x: (Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10) * 3,
-			step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
-			step_velocity: command.s / 128 + 1,
-			step_angle: 0,
-			step_depth: 0.2
-		};
-	}
-}
-
-export class IdleState extends GaitState {
-	protected name = 'Idle';
-}
-
-export class RestState extends GaitState {
-	protected name = 'Rest';
-
-	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 / 2;
-		body_state.zm = 0;
-		body_state.feet = this.default_feet_pos;
-		return body_state;
-	}
-}
-
-export class StandState extends GaitState {
-	protected name = 'Stand';
-
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		body_state.omega = 0;
-		body_state.phi = command.rx / 8;
-		body_state.psi = command.ry / 8;
-		body_state.xm = command.ly / 2 / 100;
-		body_state.zm = command.lx / 2 / 100;
-		body_state.feet = this.default_feet_pos;
-		return body_state;
-	}
-}
-
-abstract class PhaseGaitState extends GaitState {
-	protected tick = 0;
-	protected phase = 0;
-	protected phase_time = 0;
-	protected abstract num_phases: number;
-	protected abstract phase_speed_factor: number;
-	protected abstract swing_stand_ratio: number;
-
-	protected contact_phases!: 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;
-		this.gait_state = this.map_command(command);
-		this.dt = dt / 1000;
-		this.update_phase();
-		this.update_body_position();
-		this.update_feet_positions();
-		return this.body_state;
-	}
-
-	update_phase() {
-		this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity;
-
-		if (this.phase_time >= 1) {
-			this.phase += 1;
-			if (this.phase == this.num_phases) this.phase = 0;
-			this.phase_time = 0;
-		}
-	}
-
-	update_body_position() {
-		if (this.num_phases === 4) return;
-
-		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.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);
-		}
-	}
-
-	update_foot_position(index: number): number[] {
-		const contact = this.contact_phases[index][this.phase];
-		return contact ? this.stand(index) : this.swing(index);
-	}
-
-	stand(index: number): number[] {
-		const delta_pos = [
-			-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][1] = this.default_feet_pos[index][1];
-		this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
-		return this.body_state.feet[index];
-	}
-
-	swing(index: number): number[] {
-		const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt];
-
-		if (this.gait_state.step_x == 0) {
-			delta_pos[0] =
-				(this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8;
-		}
-
-		if (this.gait_state.step_z == 0) {
-			delta_pos[2] =
-				(this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8;
-		}
-
-		this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
-		this.body_state.feet[index][1] =
-			this.default_feet_pos[index][1] +
-			sin(this.phase_time * Math.PI) * this.gait_state.step_height;
-		this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
-		return this.body_state.feet[index];
-	}
-}
-
-export class FourPhaseWalkState extends PhaseGaitState {
-	protected name = 'Four phase walk';
-	protected num_phases = 4;
-	protected phase_speed_factor = 2.5;
-	protected contact_phases = [
-		[1, 0, 1, 1],
-		[1, 1, 1, 0],
-		[1, 1, 1, 0],
-		[1, 0, 1, 1]
-	];
-	protected swing_stand_ratio = 1 / (this.num_phases - 1);
-
-	begin() {
-		super.begin();
-	}
-
-	end() {
-		super.end();
-	}
-
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return super.step(body_state, command, dt);
-	}
-}
-
-export class EightPhaseWalkState extends PhaseGaitState {
-	protected name = 'Eight phase walk';
-	protected num_phases = 8;
-	protected phase_speed_factor = 1.5;
-	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]
-	];
-	protected shifts = [
-		[-0.3, 0, -0.2],
-		[-0.3, 0, 0.2],
-		[0.3, 0, -0.2],
-		[0.3, 0, 0.2]
-	];
-	protected swing_stand_ratio = 1 / (this.num_phases - 1);
-
-	begin() {
-		super.begin();
-	}
-
-	end() {
-		super.end();
-	}
-
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return super.step(body_state, command, dt);
-	}
-}

app/src/lib/index.ts

@@ -1 +0,0 @@
-// place files you want to import through the `$lib` alias in this folder.

app/src/lib/kinematic.ts

@@ -1,166 +1,120 @@
-
-export interface body_state_t {
-	omega: number;
-	phi: number;
-	psi: number;
-	xm: number;
-	ym: number;
-	zm: number;
-	feet: number[][];
-}
-
-export interface position {
-	x: number;
-	y: number;
-	z: number;
-}
-
-export interface target_position {
-	x: number;
-	z: number;
-	yaw: number;
-}
-
-const { cos, sin, atan2, sqrt } = Math;
-
-const DEG2RAD = 0.017453292519943;
-
 export default class Kinematic {
-	l1: number;
+	private l1: number;
-	l2: number;
+	private l2: number;
-	l3: number;
+	private l3: number;
-	l4: number;
+	private l4: number;
 
-	L: number;
+	private L: number;
-	W: number;
+	private W: number;
-
-	DEG2RAD = DEG2RAD;
-
-	sHp = sin(Math.PI / 2);
-	cHp = cos(Math.PI / 2);
-
-	Tlf: number[][] = [];
-	Trf: number[][] = [];
-	Tlb: number[][] = [];
-	Trb: number[][] = [];
-
-	point_lf: number[][];
-	point_rf: number[][];
-	point_lb: number[][];
-	point_rb: number[][];
-	Ix: number[][];
 
 	constructor() {
-		this.l1 = 60.5 / 100;
+		this.l1 = 50;
-		this.l2 = 10 / 100;
+		this.l2 = 20;
-		this.l3 = 100.7 / 100;
+		this.l3 = 120;
-		this.l4 = 118.5 / 100;
+		this.l4 = 155;
 
-		this.L = 207.5 / 100;
+		this.L = 140;
-		this.W = 78 / 100;
+		this.W = 75;
+	}
 
-		this.point_lf = [
+	bodyIK(
-			[this.cHp, 0, this.sHp, this.L / 2],
+		omega: number,
-			[0, 1, 0, 0],
+		phi: number,
-			[-this.sHp, 0, this.cHp, this.W / 2],
+		psi: number,
+		xm: number,
+		ym: number,
+		zm: number
+	): number[][][] {
+		const { cos, sin } = Math;
+
+		const Rx: number[][] = [
+			[1, 0, 0, 0],
+			[0, cos(omega), -sin(omega), 0],
+			[0, sin(omega), cos(omega), 0],
 			[0, 0, 0, 1]
 		];
-
+		const Ry: number[][] = [
-		this.point_rf = [
+			[cos(phi), 0, sin(phi), 0],
-			[this.cHp, 0, this.sHp, this.L / 2],
 			[0, 1, 0, 0],
-			[-this.sHp, 0, this.cHp, -this.W / 2],
+			[-sin(phi), 0, cos(phi), 0],
 			[0, 0, 0, 1]
 		];
-
+		const Rz: number[][] = [
-		this.point_lb = [
+			[cos(psi), -sin(psi), 0, 0],
-			[this.cHp, 0, this.sHp, -this.L / 2],
+			[sin(psi), cos(psi), 0, 0],
-			[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]
 		];
-	}
+		const Rxyz: number[][] = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz);
 
-	public calcIK(body_state: body_state_t): number[] {
+		const T: number[][] = [
-		this.bodyIK(body_state);
+			[0, 0, 0, xm],
+			[0, 0, 0, ym],
+			[0, 0, 0, zm],
+			[0, 0, 0, 0]
+		];
+		const Tm: number[][] = this.matrixAdd(T, Rxyz);
+
+		const sHp = sin(Math.PI / 2);
+		const cHp = cos(Math.PI / 2);
+		const L = this.L;
+		const W = this.W;
 
 		return [
-			...this.legIK(this.multiplyVector(this.inverse(this.Tlf), body_state.feet[0])),
+			this.matrixMultiply(Tm, [
-			...this.legIK(
+				[cHp, 0, sHp, L / 2],
-				this.multiplyVector(
+				[0, 1, 0, 0],
-					this.Ix,
+				[-sHp, 0, cHp, W / 2],
-					this.multiplyVector(this.inverse(this.Trf), body_state.feet[1])
+				[0, 0, 0, 1]
-				)
+			]),
-			),
+			this.matrixMultiply(Tm, [
-			...this.legIK(this.multiplyVector(this.inverse(this.Tlb), body_state.feet[2])),
+				[cHp, 0, sHp, L / 2],
-			...this.legIK(
+				[0, 1, 0, 0],
-				this.multiplyVector(
+				[-sHp, 0, cHp, -W / 2],
-					this.Ix,
+				[0, 0, 0, 1]
-					this.multiplyVector(this.inverse(this.Trb), body_state.feet[3])
+			]),
-				)
+			this.matrixMultiply(Tm, [
-			)
+				[cHp, 0, sHp, -L / 2],
+				[0, 1, 0, 0],
+				[-sHp, 0, cHp, W / 2],
+				[0, 0, 0, 1]
+			]),
+			this.matrixMultiply(Tm, [
+				[cHp, 0, sHp, -L / 2],
+				[0, 1, 0, 0],
+				[-sHp, 0, cHp, -W / 2],
+				[0, 0, 0, 1]
+			])
 		];
 	}
 
-	bodyIK(p: body_state_t) {
+	private legIK(point: number[]): number[] {
-		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;
+		const { atan2, cos, sin, sqrt, acos } = Math;
+		const { l1, l2, l3, l4 } = this;
 
-		let F = sqrt(x ** 2 + y ** 2 - this.l1 ** 2);
+		let F;
-		if (isNaN(F)) F = this.l1;
 
-		const G = F - this.l2;
+		try {
+			F = sqrt(x ** 2 + y ** 2 - l1 ** 2);
+			if (isNaN(F)) throw new Error('F is NaN');
+		} catch (error) {
+			//console.log(error)
+			F = l1;
+		}
+		const G = F - l2;
 		const H = sqrt(G ** 2 + z ** 2);
 
-		const theta1 = -atan2(y, x) - atan2(F, -this.l1);
+		const theta1 = -atan2(y, x) - atan2(F, -l1);
-		const D = (H ** 2 - this.l3 ** 2 - this.l4 ** 2) / (2 * this.l3 * this.l4);
+		const D = (H ** 2 - l3 ** 2 - l4 ** 2) / (2 * l3 * l4);
-		let theta3 = atan2(sqrt(1 - D ** 2), D);
+		let theta3: number;
-		if (isNaN(theta3)) theta3 = 0;
+		try {
-
+			theta3 = acos(D);
-		const theta2 = atan2(z, G) - atan2(this.l4 * sin(theta3), this.l3 + this.l4 * cos(theta3));
+			if (isNaN(theta3)) throw new Error('theta3 is NaN');
+		} catch (error) {
+			theta3 = 0;
+		}
+		const theta2 = atan2(z, G) - atan2(l4 * sin(theta3), l3 + l4 * cos(theta3));
 
 		return [theta1, theta2, theta3];
 	}
@@ -211,7 +165,81 @@ export default class Kinematic {
 		return result;
 	}
 
-	private inverse(matrix: number[][]): number[][] {
+	private matrixAdd(a: number[][], b: number[][]): number[][] {
+		const result: number[][] = [];
+
+		for (let i = 0; i < a.length; i++) {
+			const row: number[] = [];
+
+			for (let j = 0; j < a[i].length; j++) {
+				row.push(a[i][j] + b[i][j]);
+			}
+
+			result.push(row);
+		}
+
+		return result;
+	}
+
+	public calcLegPoints(angles: number[]): number[][] {
+		const [theta1, theta2, theta3] = angles;
+		const theta23 = theta2 + theta3;
+
+		const T0: number[] = [0, 0, 0, 1];
+		const T1: number[] = this.vectorAdd(T0, [
+			-this.l1 * Math.cos(theta1),
+			this.l1 * Math.sin(theta1),
+			0,
+			0
+		]);
+		const T2: number[] = this.vectorAdd(T1, [
+			-this.l2 * Math.sin(theta1),
+			-this.l2 * Math.cos(theta1),
+			0,
+			0
+		]);
+		const T3: number[] = this.vectorAdd(T2, [
+			-this.l3 * Math.sin(theta1) * Math.cos(theta2),
+			-this.l3 * Math.cos(theta1) * Math.cos(theta2),
+			this.l3 * Math.sin(theta2),
+			0
+		]);
+		const T4: number[] = this.vectorAdd(T3, [
+			-this.l4 * Math.sin(theta1) * Math.cos(theta23),
+			-this.l4 * Math.cos(theta1) * Math.cos(theta23),
+			this.l4 * Math.sin(theta23),
+			0
+		]);
+
+		return [T0, T1, T2, T3, T4];
+	}
+
+	public calcIK(Lp: number[][], angles: number[], center: number[]): number[][] {
+		const [omega, phi, psi] = angles;
+		const [xm, ym, zm] = center;
+
+		const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm);
+
+		const Ix: number[][] = [
+			[-1, 0, 0, 0],
+			[0, 1, 0, 0],
+			[0, 0, 1, 0],
+			[0, 0, 0, 1]
+		];
+
+		return [
+			this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])),
+			this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trf), Lp[1]))),
+			this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])),
+			this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trb), Lp[3])))
+		];
+	}
+
+	private vectorAdd(a: number[], b: number[]): number[] {
+		return a.map((val, index) => val + b[index]);
+	}
+
+	private matrixInverse(matrix: number[][]): number[][] {
 		const det = this.determinant(matrix);
 		const adjugate = this.adjugate(matrix);
 		const scalar = 1 / det;
@@ -318,3 +346,48 @@ export default class Kinematic {
 	}
 }
 
+export class ForwardKinematics {
+	private l1: number;
+	private l2: number;
+	private l3: number;
+	private l4: number;
+
+	constructor() {
+		this.l1 = 50;
+		this.l2 = 20;
+		this.l3 = 120;
+		this.l4 = 155;
+	}
+
+	public calculateFootpoint(theta1: number, theta2: number, theta3: number): number[] {
+		const { cos, sin } = Math;
+
+		const x =
+			this.l1 * cos(theta1) +
+			this.l2 * cos(theta1) +
+			this.l3 * cos(theta1 + theta2) +
+			this.l4 * cos(theta1 + theta2 + theta3);
+		const y =
+			this.l1 * sin(theta1) +
+			this.l2 * sin(theta1) +
+			this.l3 * sin(theta1 + theta2) +
+			this.l4 * sin(theta1 + theta2 + theta3);
+		const z = 0;
+
+		return [x, y, z];
+	}
+
+	public calculateFootpoints(angles: number[]): number[][] {
+		const footpoints: number[][] = [];
+
+		for (let i = 0; i < angles.length; i += 3) {
+			const theta1 = angles[i];
+			const theta2 = angles[i + 1];
+			const theta3 = angles[i + 2];
+			const footpoint = this.calculateFootpoint(theta1, theta2, theta3);
+			footpoints.push(footpoint);
+		}
+
+		return footpoints;
+	}
+}

app/src/lib/models.ts

@@ -5,165 +5,18 @@ export interface ControllerInput {
 	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 = {
+export type AnglesData = {
-	status: number;
+	type: 'angles';
-	local_ip: string;
+	data: angles;
-	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 = {
+export type LogData = {
-	hostname: string;
+	type: 'log';
-	priority_RSSI: boolean;
+	data: string;
-	wifi_networks: NetworkItem[];
 };
 
-export type NetworkList = {
+export type WebSocketJsonMsg = AnglesData | LogData;
-	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

@@ -3,6 +3,7 @@ import {
 	PerspectiveCamera,
 	PlaneGeometry,
 	Scene,
+	ShadowMaterial,
 	WebGLRenderer,
 	AmbientLight,
 	DirectionalLight,
@@ -10,6 +11,8 @@ import {
 	GridHelper,
 	ArrowHelper,
 	Vector3,
+	LoaderUtils,
+	Object3D,
 	FogExp2,
 	CanvasTexture,
 	type ColorRepresentation,
@@ -17,16 +20,12 @@ import {
 	MeshPhongMaterial,
 	EquirectangularReflectionMapping,
 	ACESFilmicToneMapping,
-	MathUtils,
+	MathUtils
-	MeshStandardMaterial,
-	Group
 } 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 { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader';
 import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls';
-import { sunCalculator } from './utilities/position-utilities';
 
 export const addScene = () => new Scene();
 
@@ -57,23 +56,26 @@ type directionalLight = position & light;
 
 type gridHelperOptions = gridOptions & position;
 
+function calculateCurrentSunElevation() {
+	let now = new Date();
+	let decimalTime = now.getHours() + now.getMinutes() / 60;
+	let normalizedTime = (decimalTime % 12) / 6 - 1;
+	return 10 * Math.sin(normalizedTime * Math.PI);
+}
+
 export default class SceneBuilder {
 	public scene: Scene;
-	public camera!: PerspectiveCamera;
+	public camera: PerspectiveCamera;
-	public ground!: Mesh;
+	public ground: Mesh;
-	public renderer!: WebGLRenderer;
+	public renderer: WebGLRenderer;
-	public orbit: OrbitControls;
+	public controls: OrbitControls;
-	public callback: Function | undefined;
+	public callback: Function;
-	public gridHelper!: GridHelper;
+	public gridHelper: GridHelper;
-	public model!: URDFRobot;
+	public model: URDFRobot;
-	public liveStreamTexture!: CanvasTexture;
+	public liveStreamTexture: CanvasTexture;
-	private fog!: FogExp2;
+	private fog: FogExp2;
 	private isLoaded: boolean = false;
-	public isDragging: boolean = false;
 	highlightMaterial: any;
-	sky!: Sky;
-	transformControl: TransformControls;
-	public modelGroup!: Group;
 
 	constructor() {
 		this.scene = new Scene();
@@ -90,24 +92,24 @@ export default class SceneBuilder {
 		this.renderer.shadowMap.type = PCFSoftShadowMap;
 		this.renderer.toneMapping = ACESFilmicToneMapping;
 		this.renderer.toneMappingExposure = 0.85;
-		if (!parameters?.canvas) document.body.appendChild(this.renderer.domElement);
+		document.body.appendChild(this.renderer.domElement);
 		return this;
 	};
 
 	public addSky = () => {
-		this.sky = new Sky();
+		const sky = new Sky();
-		this.sky.scale.setScalar(450000);
+		sky.scale.setScalar(450000);
-		this.scene.add(this.sky);
+		this.scene.add(sky);
 		const effectController = {
 			turbidity: 10,
 			rayleigh: 3,
 			mieCoefficient: 0.005,
 			mieDirectionalG: 0.7,
-			elevation: sunCalculator.calculateSunElevation(),
+			elevation: calculateCurrentSunElevation(),
 			azimuth: 180,
 			exposure: this.renderer.toneMappingExposure
 		};
-		const uniforms = this.sky.material.uniforms;
+		const uniforms = sky.material.uniforms;
 		uniforms['turbidity'].value = effectController.turbidity;
 		uniforms['rayleigh'].value = effectController.rayleigh;
 		uniforms['mieCoefficient'].value = effectController.mieCoefficient;
@@ -124,14 +126,13 @@ export default class SceneBuilder {
 
 	public addPerspectiveCamera = (options: position) => {
 		this.camera = new PerspectiveCamera();
-		this.camera.position.set(options.x ?? 0, options.y ?? 2.7, options.z ?? 0);
+		this.camera.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
 		this.scene.add(this.camera);
 		return this;
 	};
 
 	public addGroundPlane = (options?: position) => {
-		var planeMaterial = new MeshStandardMaterial({ color: 0x808080, side: 2, opacity: 0.5 });
+		this.ground = new Mesh(new PlaneGeometry(), new ShadowMaterial({ side: 2 }));
-		this.ground = new Mesh(new PlaneGeometry(), planeMaterial);
 		this.ground.rotation.x = -Math.PI / 2;
 		this.ground.scale.setScalar(30);
 		this.ground.position.set(options?.x ?? 0, options?.y ?? 0, options?.z ?? 0);
@@ -140,12 +141,11 @@ export default class SceneBuilder {
 		return this;
 	};
 
-	public addOrbitControls = (minDistance: number, maxDistance: number, autoRotate = true) => {
+	public addOrbitControls = (minDistance: number, maxDistance: number) => {
-		this.orbit = new OrbitControls(this.camera, this.renderer.domElement);
+		this.controls = new OrbitControls(this.camera, this.renderer.domElement);
-		this.orbit.minDistance = minDistance;
+		this.controls.minDistance = minDistance;
-		this.orbit.maxDistance = maxDistance;
+		this.controls.maxDistance = maxDistance;
-		this.orbit.autoRotate = autoRotate;
+		this.controls.update();
-		this.orbit.update();
 		return this;
 	};
 
@@ -158,13 +158,11 @@ export default class SceneBuilder {
 	public addDirectionalLight = (options: directionalLight) => {
 		const directionalLight = new DirectionalLight(options.color, options.intensity);
 		directionalLight.castShadow = true;
-		directionalLight.shadow.camera.top = 10;
+		directionalLight.shadow.mapSize.setScalar(2048);
-		directionalLight.shadow.camera.bottom = -10;
+		directionalLight.shadow.mapSize.width = 1024;
-		directionalLight.shadow.camera.right = 10;
+		directionalLight.shadow.mapSize.height = 1024;
-		directionalLight.shadow.camera.left = -10;
-		directionalLight.shadow.mapSize.set(4096, 4096);
-
 		directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
+		directionalLight.shadow.radius = 5;
 		this.scene.add(directionalLight);
 		return this;
 	};
@@ -184,20 +182,10 @@ export default class SceneBuilder {
 		return this;
 	};
 
-	public fillParent = () => {
+	public handleResize = () => {
-		const parentElement = this.renderer.domElement.parentElement;
+		this.renderer.setSize(window.innerWidth, window.innerHeight);
-		if (parentElement) {
-			const width = parentElement.clientWidth;
-			const height = parentElement.clientHeight;
-			this.handleResize(width, height);
-		}
-		return this;
-	};
-
-	public handleResize = (width = window.innerWidth, height = window.innerHeight) => {
-		this.renderer.setSize(width, height);
 		this.renderer.setPixelRatio(window.devicePixelRatio);
-		this.camera.aspect = width / height;
+		this.camera.aspect = window.innerWidth / window.innerHeight;
 		this.camera.updateProjectionMatrix();
 		return this;
 	};
@@ -209,8 +197,8 @@ export default class SceneBuilder {
 
 	public startRenderLoop = () => {
 		this.renderer.setAnimationLoop(() => {
+            this.controls.update();
 			this.renderer.render(this.scene, this.camera);
-			this.orbit.update();
 			this.handleRobotShadow();
 			if (this.callback) this.callback();
 			if (!this.liveStreamTexture) return;
@@ -271,23 +259,9 @@ export default class SceneBuilder {
 		traverse(m);
 	};
 
-	public addTransformControls = (model: any) => {
-		this.transformControl = new TransformControls(this.camera, this.renderer.domElement);
-		this.transformControl.addEventListener('dragging-changed', (event: any) => {
-			this.orbit.enabled = !event.value;
-			this.isDragging = !event.value;
-		});
-		this.transformControl.attach(model);
-		this.scene.add(this.transformControl);
-		this.transformControl.setMode('rotate');
-		return this;
-	};
-
 	public addModel = (model: any) => {
-		this.modelGroup = new Group();
-		this.modelGroup.add(model);
 		this.model = model;
-		this.scene.add(this.modelGroup);
+		this.scene.add(model);
 		return this;
 	};
 
@@ -309,14 +283,8 @@ export default class SceneBuilder {
 			this.setJointValue(joint.name, angle);
 			updateAngle(joint.name, angle);
 		};
-		dragControls.onDragStart = () => {
+		dragControls.onDragStart = () => (this.controls.enabled = false);
-			this.orbit.enabled = false;
+		dragControls.onDragEnd = () => (this.controls.enabled = true);
-			this.isDragging = true;
-		};
-		dragControls.onDragEnd = () => {
-			this.orbit.enabled = true;
-			this.isDragging = false;
-		};
 		dragControls.onHover = (joint: URDFMimicJoint) =>
 			this.highlightLinkGeometry(joint, false, highlightMaterial);
 		dragControls.onUnhover = (joint: URDFMimicJoint) =>

app/src/lib/services/index.ts

@@ -1,2 +1,3 @@
 export { default as fileService } from './file-service';
+export { default as socketService } from './socket-service';
 export { default as resultService } from './result-service';

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

@@ -0,0 +1,96 @@
+import { isConnected, socketData } from '$lib/stores';
+import { Result, Ok } from '$lib/utilities';
+import { resultService } from '$lib/services';
+import { type WebSocketJsonMsg } from '$lib/models';
+import type { Writable } from 'svelte/store';
+
+type WebsocketOutData = string | ArrayBufferLike | Blob | ArrayBufferView;
+
+// TODO
+/**
+ * MOVE THE store to a store.ts file
+ *
+ * Make an object on the class that encapsulate all the stores
+ *
+ * Make the handle message function look up the type and set the value, to simplify the code
+ */
+
+class SocketService {
+	private socket!: WebSocket;
+    private url?:string
+
+	constructor() {}
+
+	public connect(url: string): void {
+        this.url = url
+		this.socket = new WebSocket(url);
+		this.socket.binaryType = 'arraybuffer';
+		this.socket.onopen = () => this.handleConnected();
+		this.socket.onclose = () => this.handleDisconnected();
+		this.socket.onmessage = (event: MessageEvent) =>
+			resultService.handleResult(this.handleMessage(event), 'SocketService');
+		this.socket.onerror = (error: Event) => console.log(error);
+	}
+
+	public send(data: WebsocketOutData): Result<void, string> {
+		if (this.socket.readyState === WebSocket.OPEN) {
+			this.socket.send(data);
+			return Ok.void();
+		}
+		return Result.err('The connection is not open');
+	}
+
+	public addPublisher(store: Writable<WebsocketOutData>, type?: string) {
+		const publish = (data: WebsocketOutData) =>
+			this.send(type ? JSON.stringify({ type, data }) : data);
+		store.subscribe(publish);
+	}
+
+	private handleConnected(): void {
+		isConnected.set(true);
+	}
+
+	private handleDisconnected(): void {
+		isConnected.set(false);
+        setTimeout(() => this.connect(this.url as string), 500)
+	}
+
+	private getJsonFromMessage(msg: string): Result<WebSocketJsonMsg, string> {
+		try {
+			return Result.ok(JSON.parse(msg) as WebSocketJsonMsg);
+		} catch (error) {
+			return Result.err('Failed to parse socket message', error);
+		}
+	}
+
+	private handleBufferMessage(buffer: ArrayBuffer): Result<void, string> {
+		console.log(buffer);
+		return Ok.void();
+	}
+
+	private handleMessage(event: MessageEvent): Result<void, string> {
+		if (event.data instanceof ArrayBuffer) {
+			return this.handleBufferMessage(event.data);
+		}
+		let msgRes = this.getJsonFromMessage(event.data);
+		if (msgRes.isErr()) {
+			return msgRes;
+		}
+		const msg = msgRes.inner;
+
+		if (msg.type === 'log') {
+			socketData.logs.update((entries) => {
+				entries.push(msg.data);
+				return entries;
+			});
+			return Ok.void();
+		} else if (msg.data && msg.type in socketData) {
+			socketData[msg.type].set(msg.data);
+			return Ok.void();
+		}
+
+		return Result.err(`Got invalid msg: ${JSON.stringify(msg)}`);
+	}
+}
+
+export default new SocketService();

app/src/lib/stores/analytics.ts

@@ -1,55 +0,0 @@
-import { type Analytics } from '$lib/types/models';
-import { writable } from 'svelte/store';
-
-let analytics_data = {
-	uptime: <number[]>[],
-	free_heap: <number[]>[],
-	total_heap: <number[]>[],
-	used_heap: <number[]>[],
-	min_free_heap: <number[]>[],
-	max_alloc_heap: <number[]>[],
-	fs_used: <number[]>[],
-	fs_total: <number[]>[],
-	core_temp: <number[]>[],
-	cpu0_usage: <number[]>[],
-	cpu1_usage: <number[]>[],
-	cpu_usage: <number[]>[]
-};
-
-const maxAnalyticsData = 100;
-
-function createAnalytics() {
-	const { subscribe, update } = writable(analytics_data);
-
-	return {
-		subscribe,
-		addData: (content: Analytics) => {
-			update((analytics_data) => ({
-				...analytics_data,
-				uptime: [...analytics_data.uptime, content.uptime].slice(-maxAnalyticsData),
-				free_heap: [...analytics_data.free_heap, content.free_heap / 1000].slice(-maxAnalyticsData),
-				total_heap: [...analytics_data.total_heap, content.total_heap / 1000].slice(
-					-maxAnalyticsData
-				),
-				used_heap: [
-					...analytics_data.used_heap,
-					(content.total_heap - content.free_heap) / 1000
-				].slice(-maxAnalyticsData),
-				min_free_heap: [...analytics_data.min_free_heap, content.min_free_heap / 1000].slice(
-					-maxAnalyticsData
-				),
-				max_alloc_heap: [...analytics_data.max_alloc_heap, content.max_alloc_heap / 1000].slice(
-					-maxAnalyticsData
-				),
-				fs_used: [...analytics_data.fs_used, content.fs_used / 1000].slice(-maxAnalyticsData),
-				fs_total: [...analytics_data.fs_total, content.fs_total / 1000].slice(-maxAnalyticsData),
-				core_temp: [...analytics_data.core_temp, content.core_temp].slice(-maxAnalyticsData),
-				cpu0_usage: [...analytics_data.cpu0_usage, content.cpu0_usage].slice(-maxAnalyticsData),
-				cpu1_usage: [...analytics_data.cpu1_usage, content.cpu1_usage].slice(-maxAnalyticsData),
-				cpu_usage: [...analytics_data.cpu_usage, content.cpu_usage].slice(-maxAnalyticsData)
-			}));
-		}
-	};
-}
-
-export const analytics = createAnalytics();

app/src/lib/stores/imu.ts

@@ -1,36 +0,0 @@
-import { type IMU } from '$lib/types/models';
-import { writable } from 'svelte/store';
-
-let imu_data = {
-	x: <number[]>[],
-	y: <number[]>[],
-	z: <number[]>[],
-	imu_temp: <number[]>[],
-	altitude: <number[]>[],
-	pressure: <number[]>[],
-	bmp_temp: <number[]>[]
-};
-
-const maxIMUData = 100;
-
-function createIMU() {
-	const { subscribe, update } = writable(imu_data);
-
-	return {
-		subscribe,
-		addData: (content: IMU) => {
-			update((imu_data) => ({
-				...imu_data,
-				x: [...imu_data.x, content.x].slice(-maxIMUData),
-				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();

app/src/lib/stores/index.ts

@@ -1,4 +1,3 @@
 export * from './socket-store';
 export * from './logging-store';
 export * from './model-store';
-export * from './socket';

app/src/lib/stores/lidar.ts

@@ -1,29 +0,0 @@
-import { writable } from 'svelte/store';
-
-export type LidarPoint = {
-	distance: number;
-	angle: number;
-	quality: number;
-};
-
-let lidar_data = {
-	points: <LidarPoint[]>[]
-};
-
-const maxLidarData = 600;
-
-function createLidar() {
-	const { subscribe, update } = writable(lidar_data);
-
-	return {
-		subscribe,
-		addData: (lidarPoint: LidarPoint) => {
-			update((lidar_data) => ({
-				...lidar_data,
-				points: [...lidar_data.points, lidarPoint].slice(-maxLidarData)
-			}));
-		}
-	};
-}
-
-export const lidar = createLidar();

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

@@ -1,5 +1,5 @@
 import type { ControllerInput } from '$lib/models';
-import { persistentStore } from '$lib/utilities/svelte-utilities';
+import { persistentStore } from '$lib/utilities';
 import { writable, type Writable } from 'svelte/store';
 
 export const emulateModel = writable(true);
@@ -8,30 +8,17 @@ export const jointNames = persistentStore('joint_names', []);
 
 export const model = writable();
 
-export const modes = ['deactivated', 'idle', 'calibration', 'rest', 'stand', 'crawl', 'walk'] as const;
+export const modes = ['idle', 'rest', 'stand', 'walk'] as const;
 
 export type Modes = (typeof modes)[number];
 
-export enum ModesEnum {
+export const mode: Writable<Modes> = writable('idle');
-	Deactivated,
-	Idle,
-	Calibration,
-	Rest,
-	Stand,
-	Crawl,
-	Walk
-}
 
-export const mode: Writable<ModesEnum> = writable(ModesEnum.Walk);
+export const outControllerData = writable(new Int8Array([0, 0, 0, 0, 0, 0, 70, 0]));
-
-export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0]);
-
-export const kinematicData = writable([0, 0, 0, 0, 1, 0]);
 
 export const input: Writable<ControllerInput> = writable({
 	left: { x: 0, y: 0 },
 	right: { x: 0, y: 0 },
-	height: 50,
+	height: 70,
-	speed: 50,
+	speed: 0
-	s1: 50
 });

app/src/lib/stores/orientation.ts

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

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

@@ -1,17 +1,14 @@
 import { writable, type Writable } from 'svelte/store';
 import { type angles } from '$lib/models';
 
-export const servoAnglesOut: Writable<number[]> = writable([
+export const isConnected = writable(false);
-	0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
+export const servoAngles: Writable<angles> = writable(new Int16Array(12).fill(0));
-]);
-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({});
+export const settings = writable({});
+export const systemInfo = writable({} as number);
 
 export interface socketDataCollection {
 	angles: Writable<angles>;
@@ -19,6 +16,8 @@ export interface socketDataCollection {
 	battery: Writable<unknown>;
 	mpu: Writable<unknown>;
 	distances: Writable<unknown>;
+	settings: Writable<unknown>;
+	systemInfo: Writable<unknown>;
 }
 
 export const socketData = {
@@ -26,5 +25,7 @@ export const socketData = {
 	logs,
 	battery,
 	mpu,
-	distances
+	distances,
+	settings,
+	systemInfo
 };

app/src/lib/stores/socket.ts

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

app/src/lib/stores/telemetry.ts

@@ -1,45 +0,0 @@
-import type { Battery, 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,
-		error: ''
-	}
-};
-
-function createTelemetry() {
-	const { subscribe, set, update } = writable(telemetry_data);
-
-	return {
-		subscribe,
-		setRSSI: (data: number) => {
-			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) => ({
-				...telemetry_data,
-				download_ota: { status: data.status, progress: data.progress, error: data.error }
-			}));
-		}
-	};
-}
-
-export const telemetry = createTelemetry();

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/models.ts

@@ -1,143 +0,0 @@
-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: KnownNetworkItem[];
-};
-
-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 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;
-	progress: number;
-	error: string;
-};
-
-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;
-	cpu0_usage: number;
-	cpu1_usage: number;
-	cpu_usage: number;
-};
-
-export type Rssi = {
-	rssi: number;
-	ssid: string;
-};
-
-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 IMU = {
-	x: number;
-	y: number;
-	z: number;
-	imu_temp: number;
-	altitude: number;
-	bmp_temp: number;
-	pressure: number;
-};
-
-export interface I2CDevice {
-    address: number;
-    part_number: string;
-    name: string;
-};

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

@@ -1,9 +1,10 @@
-export const hostname = 'localhost'; //window.location.hostname;
+export const hostname = window.location.hostname;
 
-export const isSecure = true; // window.location.protocol === 'https:';
+export const isSecure = window.location.protocol === 'https:';
 
-export const location = 'localhost:5173'; //window.location; //import.meta.env.VITE_API_URL.replace('hostname', hostname);
+export const 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);
+export const socketLocation =
+	socketScheme + import.meta.env.VITE_SOCKET_URL.replace('hostname', hostname);

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

@@ -9,10 +9,3 @@ export const toInt8 = (number: number, min: number, max: number) => {
 	let scaled = ((number - min) / (max - min)) * 255 - 128;
 	return Math.max(-128, Math.min(127, Math.round(scaled))) | 0;
 };
-
-export const fromInt8 = (int8: number, min: number, max: number) => {
-	int8 = Math.max(-128, Math.min(127, int8));
-	const scaled = (int8 + 128) / 255;
-	const number = scaled * (max - min) + min;
-	return number;
-};

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

@@ -33,7 +33,7 @@ export const loadModelAsync = async (
 					resolve(Result.err('Failed to load model', error));
 				}
 			},
-			(error) => resolve(Result.err('Failed to load model', error))
+			(error) => reject(error)
 		);
 	});
 };

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

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

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

@@ -7,30 +7,3 @@ export const humanFileSize = (size: number): string => {
 export const capitalize = (str: string): string => {
 	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 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;
-};

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

@@ -1,15 +1,14 @@
 import { writable } from 'svelte/store';
-import { browser } from '$app/environment';
 
 export const isEmbeddedApp = import.meta.env.VITE_EMBEDDED_BUILD === 'true';
 
 export const persistentStore = (key: string, initialValue: any) => {
-	const savedValue = browser ? JSON.parse(localStorage.getItem(key) as string) : null;
+	const savedValue = JSON.parse(localStorage.getItem(key) as string);
 	const data = savedValue !== null ? savedValue : initialValue;
 	const store = writable(data);
 
 	store.subscribe((value) => {
-		browser && localStorage.setItem(key, JSON.stringify(value));
+		localStorage.setItem(key, JSON.stringify(value));
 	});
 
 	return store;

app/src/main.ts

@@ -0,0 +1,9 @@
+import './app.css';
+import './index.css';
+import App from './App.svelte';
+
+const app = new App({
+	target: document.getElementById('app') as HTMLElement
+});
+
+export default app;

app/src/routes/+error.svelte

@@ -1,15 +0,0 @@
-<script lang="ts">
-    import { goto } from '$app/navigation';
-    import { onMount } from 'svelte';
-
-    onMount(() => {
-        setTimeout(() => {
-            goto('/');
-        }, 3000);
-    });
-</script>
-
-<div class="flex justify-center items-center w-full h-full">
-    <h1 class="text-4xl">404 - Page not found</h1>
-    <p>You will be redirected to the home page in 3 seconds</p>
-</div>

app/src/routes/+layout.svelte

@@ -1,129 +0,0 @@
-<script lang="ts">
-	import { onDestroy, onMount } from 'svelte';
-	import { user } from '$lib/stores/user';
-	import { telemetry } from '$lib/stores/telemetry';
-	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 '$lib/components/toasts/notifications';
-	import { fade } from 'svelte/transition';
-	import '../app.css';
-	import Menu from './menu.svelte';
-	import Statusbar from './statusbar.svelte';
-	import Login from './login.svelte';
-	import { ModesEnum, kinematicData, mode, outControllerData, servoAngles, servoAnglesOut, socket } from '$lib/stores';
-	import type { Analytics, Battery, DownloadOTA } from '$lib/types/models';
-	import { api } from '$lib/api';
-
-	onMount(async () => {
-		if ($user.bearer_token !== '') {
-			await validateUser($user);
-		}
-        const ws_token = $page.data.features.security ? '?access_token=' + $user.bearer_token : '';
-		socket.init(`ws://${window.location.host}/ws/events${ws_token}`);
-
-		addEventListeners();
-
-        outControllerData.subscribe((data) => socket.sendEvent("input", {data}));
-        mode.subscribe((data) => socket.sendEvent("mode", {data}));
-        servoAnglesOut.subscribe((data) => socket.sendEvent("angles", {data}));
-        kinematicData.subscribe((data) => socket.sendEvent("position", {data}));
-	});
-
-    onDestroy(() => {
-        removeEventListeners();
-    });
-
-    const addEventListeners = () => {
-		socket.on('open', handleOpen);
-		socket.on('close', handleClose);
-		socket.on('error', handleError);
-		socket.on('rssi', handleNetworkStatus);
-		socket.on('mode', (data:ModesEnum) => mode.set(data));
-		socket.on('angles', (angles:number[]) => { if (angles.length) servoAngles.set(angles)});
-		if ($page.data.features.analytics) socket.on('analytics', handleAnalytics);
-		if ($page.data.features.battery) socket.on('battery', handleBattery);
-		if ($page.data.features.download_firmware) socket.on('otastatus', handleOAT);
-        if ($page.data.features.sonar) socket.on('sonar', data => console.log(data))
-	};
-
-    const removeEventListeners = () => {
-		socket.off('analytics', handleAnalytics);
-		socket.off('open', handleOpen);
-		socket.off('close', handleClose);
-		socket.off('rssi', handleNetworkStatus);
-		socket.off('battery', handleBattery);
-		socket.off('otastatus', handleOAT);
-	};
-
-    async function validateUser(userdata: userProfile) {
-        const result = await api.get('/api/verifyAuthorization')
-        if (result.isErr()){
-            user.invalidate();
-            console.error('Error:', result.inner);
-        }
-	}
-
-	const handleOpen = () => {
-		notifications.success('Connection to device established', 5000);
-	};
-
-	const handleClose = () => {
-		notifications.error('Connection to device lost', 5000);
-		telemetry.setRSSI(0);
-	};
-
-	const handleError = (data: any) => console.error(data);
-
-	const handleAnalytics = (data: Analytics) => analytics.addData(data);
-
-	const handleNetworkStatus = (data: number) => telemetry.setRSSI(data);
-
-	const handleBattery = (data: Battery) => telemetry.setBattery(data);
-
-	const handleOAT = (data: DownloadOTA) => telemetry.setDownloadOTA(data);
-
-	let menuOpen = false;
-
-</script>
-
-<svelte:head>
-	<title>{$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">
-			<!-- Status bar content here -->
-			<Statusbar />
-
-			<!-- Main page content here -->
-            <slot />
-		</div>
-		<!-- Side Navigation -->
-		<div class="drawer-side z-30 shadow-lg">
-			<label for="main-menu" class="drawer-overlay" />
-			<Menu
-				on:menuClicked={() => menuOpen = false}
-			/>
-		</div>
-	</div>
-{/if}
-
-<Modals>
-	<!-- svelte-ignore a11y-click-events-have-key-events -->
-	<!-- svelte-ignore a11y-no-static-element-interactions -->
-	<div
-		slot="backdrop"
-		class="fixed inset-0 z-40 max-h-full max-w-full bg-black/20 backdrop-blur"
-		transition:fade
-		on:click={closeModal}
-	/>
-</Modals>
-
-<Toast />

app/src/routes/+layout.ts

@@ -1,40 +0,0 @@
-import { jointNames, model } from '$lib/stores';
-import { loadModelAsync } from '$lib/utilities/model-utilities';
-
-export const prerender = true;
-export const ssr = false;
-
-const registerFetchIntercept = async () => {
-	const { fetch: originalFetch } = window;
-	const fileService = (await import('$lib/services/file-service')).default;
-	window.fetch = async (resource, config) => {
-		let url = resource instanceof Request ? resource.url : resource.toString();
-		let file = await fileService.getFile(url);
-		return file.isOk() ? new Response(file.inner) : originalFetch(resource, config);
-	};
-};
-
-const loadModelFiles = 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',
-		copyright: '2024 Rune Harlyk'
-	};
-};

app/src/routes/+page.svelte

@@ -1,24 +0,0 @@
-<script lang="ts">
-	import type { PageData } from './$types';
-	import { notifications } from '$lib/components/toasts/notifications';
-	import Visualization from '$lib/components/Visualization.svelte';
-
-	export let data: PageData;
-</script>
-
-<div class="hero bg-base-100 h-screen">
-	<div class="card md:card-side bg-base-200 shadow-2xl flex justify-center items-center">
-        <div class="w-64 h-64">
-            <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>
-			<p class="py-6 text-center"></p>
-			<a
-				class="btn btn-primary"
-				href="/controller"
-				on:click={() => notifications.success('You did it!', 1000)}>Begin</a
-			>
-		</div>
-	</div>
-</div>

app/src/routes/Controller.svelte

@@ -0,0 +1,15 @@
+<script lang="ts">
+	import Stream from '$components/Views/Stream.svelte';
+	import Model from '$components/Views/Model.svelte';
+	import Controls from '$components/Controls.svelte';
+	import { emulateModel } from '$lib/stores';
+</script>
+
+<div class="flex justify-center items-center w-full h-full">
+	{#if $emulateModel}
+		<Model />
+	{:else}
+		<Stream />
+	{/if}
+	<Controls />
+</div>

app/src/routes/Settings.svelte

@@ -0,0 +1,62 @@
+<script lang="ts">
+	import { Link, Route, Router } from 'svelte-routing';
+	import Info from '../components/settings/Info.svelte';
+	import Log from '../components/settings/Log.svelte';
+	import Configuration from '../components/settings/Configuration.svelte';
+	import {
+		Icon,
+		InformationCircle,
+		BookOpen,
+		AdjustmentsVertical,
+		Cog6Tooth
+	} from 'svelte-hero-icons';
+	import Calibration from '../components/settings/Calibration.svelte';
+
+	export const page = '';
+
+	const menu = [
+		{
+			title: 'Calibration',
+			path: '/calibration',
+			icon: AdjustmentsVertical,
+			component: Calibration
+		},
+		{
+			title: 'System info',
+			path: '/info',
+			icon: InformationCircle,
+			component: Info
+		},
+		{
+			title: 'Log',
+			path: '/log',
+			icon: BookOpen,
+			component: Log
+		},
+		{
+			title: 'Settings',
+			path: '/settings',
+			icon: Cog6Tooth,
+			component: Configuration
+		}
+	];
+</script>
+
+<div class="pt-14 flex h-full">
+	<nav class="w-1/6 flex flex-col">
+		{#each menu as link}
+			<Link to={'/settings' + link.path}>
+				<div class="px-4 py-2 flex gap-2 items-center">
+					<Icon src={link.icon} size="24" />{link.title}
+				</div>
+			</Link>
+		{/each}
+	</nav>
+	<main class="w-full h-full">
+		<Router>
+			{#each menu as link}
+				<Route path={link.path} component={link.component}></Route>
+			{/each}
+		</Router>
+	</main>
+</div>

app/src/routes/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/+page.svelte

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

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

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

@@ -1,15 +0,0 @@
-<script lang="ts">
-    import Visualization from "$lib/components/Visualization.svelte";
-    import Lidar from "$lib/components/Lidar.svelte";
-</script>
-
-<div class="grow flex">
-    <div class="absolute h-screen w-full top-0 flex">
-        <div class="flex-1 overflow-hidden">
-            <Visualization debug />
-        </div>
-        <div class="flex-1">
-            <Lidar />
-        </div>
-    </div>
-</div>