⚡️Improve eventbus static alloc

app/package.json

@@ -59,7 +59,9 @@
     "three": "^0.162.0",
     "urdf-loader": "^0.12.1",
     "uzip": "^0.20201231.0",
-    "xacro-parser": "^0.3.9"
+    "xacro-parser": "^0.3.9",
+    "@types/msgpack-lite": "^0.1.11",
+    "msgpack-lite": "^0.1.26"
   },
   "packageManager": "pnpm@9.3.0"
 }

app/pnpm-lock.yaml

@@ -13,10 +13,13 @@ importers:
         version: 1.1.2
       '@sveltejs/adapter-auto':
         specifier: ^4.0.0
-        version: 4.0.0(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))
+        version: 4.0.0(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))
       '@tailwindcss/vite':
         specifier: ^4.0.12
-        version: 4.0.12(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+        version: 4.0.12(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+      '@types/msgpack-lite':
+        specifier: ^0.1.11
+        version: 0.1.11
       chart.js:
         specifier: ^4.4.2
         version: 4.4.2
@@ -32,6 +35,9 @@ importers:
       jwt-decode:
         specifier: ^4.0.0
         version: 4.0.0
+      msgpack-lite:
+        specifier: ^0.1.26
+        version: 0.1.26
       nipplejs:
         specifier: ^0.10.1
         version: 0.10.1
@@ -65,13 +71,13 @@ importers:
         version: 1.49.1
       '@sveltejs/adapter-static':
         specifier: ^3.0.1
-        version: 3.0.1(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))
+        version: 3.0.1(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))
       '@sveltejs/kit':
         specifier: ^2.5.27
-        version: 2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+        version: 2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
       '@sveltejs/vite-plugin-svelte':
         specifier: ^5.0.3
-        version: 5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+        version: 5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
       '@types/eslint':
         specifier: ^8.56.0
         version: 8.56.0
@@ -128,10 +134,10 @@ importers:
         version: 0.18.5
       vite:
         specifier: ^6.2.1
-        version: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
+        version: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
       vitest:
         specifier: ^1.2.0
-        version: 1.2.0(jsdom@24.0.0)(lightningcss@1.29.2)
+        version: 1.2.0(@types/node@24.0.10)(jsdom@24.0.0)(lightningcss@1.29.2)
 
 packages:
 
@@ -760,6 +766,12 @@ packages:
   '@types/json-schema@7.0.15':
     resolution: {integrity: sha512-5+fP8P8MFNC+AyZCDxrB2pkZFPGzqQWUzpSeuuVLvm8VMcorNYavBqoFcxK8bQz4Qsbn4oUEEem4wDLfcysGHA==}
 
+  '@types/msgpack-lite@0.1.11':
+    resolution: {integrity: sha512-cdCZS/gw+jIN22I4SUZUFf1ZZfVv5JM1//Br/MuZcI373sxiy3eSSoiyLu0oz+BPatTbGGGBO5jrcvd0siCdTQ==}
+
+  '@types/node@24.0.10':
+    resolution: {integrity: sha512-ENHwaH+JIRTDIEEbDK6QSQntAYGtbvdDXnMXnZaZ6k13Du1dPMmprkEHIL7ok2Wl2aZevetwTAb5S+7yIF+enA==}
+
   '@types/semver@7.5.8':
     resolution: {integrity: sha512-I8EUhyrgfLrcTkzV3TSsGyl1tSuPrEDzr0yd5m90UgNxQkyDXULk3b6MlQqTCpZpNtWe1K0hzclnZkTcLBe2UQ==}
 
@@ -1190,6 +1202,9 @@ packages:
     resolution: {integrity: sha512-kVscqXk4OCp68SZ0dkgEKVi6/8ij300KBWTJq32P/dYeWTSwK41WyTxalN1eRmA5Z9UU/LX9D7FWSmV9SAYx6g==}
     engines: {node: '>=0.10.0'}
 
+  event-lite@0.1.3:
+    resolution: {integrity: sha512-8qz9nOz5VeD2z96elrEKD2U433+L3DWdUdDkOINLGOJvx1GsMBbMn0aCeu28y8/e85A6mCigBiFlYMnTBEGlSw==}
+
   execa@5.1.1:
     resolution: {integrity: sha512-8uSpZZocAZRBAPIEINJj3Lo9HyGitllczc27Eh5YYojjMFMn8yHMDMaUHE2Jqfq05D/wucwI4JGURyXt1vchyg==}
     engines: {node: '>=10'}
@@ -1335,6 +1350,9 @@ packages:
     resolution: {integrity: sha512-4fCk79wshMdzMp2rH06qWrJE4iolqLhCUH+OiuIgU++RB0+94NlDL81atO7GX55uUKueo0txHNtvEyI6D7WdMw==}
     engines: {node: '>=0.10.0'}
 
+  ieee754@1.2.1:
+    resolution: {integrity: sha512-dcyqhDvX1C46lXZcVqCpK+FtMRQVdIMN6/Df5js2zouUsqG7I6sFxitIC+7KYK29KdXOLHdu9zL4sFnoVQnqaA==}
+
   ignore@5.3.1:
     resolution: {integrity: sha512-5Fytz/IraMjqpwfd34ke28PTVMjZjJG2MPn5t7OE4eUCUNf8BAa7b5WUS9/Qvr6mwOQS7Mk6vdsMno5he+T8Xw==}
     engines: {node: '>= 4'}
@@ -1356,6 +1374,9 @@ packages:
   inherits@2.0.4:
     resolution: {integrity: sha512-k/vGaX4/Yla3WzyMCvTQOXYeIHvqOKtnqBduzTHpzpQZzAskKMhZ2K+EnBiSM9zGSoIFeMpXKxa4dYeZIQqewQ==}
 
+  int64-buffer@0.1.10:
+    resolution: {integrity: sha512-v7cSY1J8ydZ0GyjUHqF+1bshJ6cnEVLo9EnjB8p+4HDRPZc9N5jjmvUV7NvEsqQOKyH0pmIBFWXVQbiS0+OBbA==}
+
   is-binary-path@2.1.0:
     resolution: {integrity: sha512-ZMERYes6pDydyuGidse7OsHxtbI7WVeUEozgR/g7rd0xUimYNlvZRE/K2MgZTjWy725IfelLeVcEM97mmtRGXw==}
     engines: {node: '>=8'}
@@ -1394,6 +1415,9 @@ packages:
     resolution: {integrity: sha512-LnQR4bZ9IADDRSkvpqMGvt/tEJWclzklNgSw48V5EAaAeDd6qGvN8ei6k5p0tvxSR171VmGyHuTiAOfxAbr8kA==}
     engines: {node: ^12.20.0 || ^14.13.1 || >=16.0.0}
 
+  isarray@1.0.0:
+    resolution: {integrity: sha512-VLghIWNM6ELQzo7zwmcg0NmTVyWKYjvIeM83yjp0wRDTmUnrM678fQbcKBo6n2CJEF0szoG//ytg+TKla89ALQ==}
+
   isexe@2.0.0:
     resolution: {integrity: sha512-RHxMLp9lnKHGHRng9QFhRCMbYAcVpn69smSGcq3f36xjgVVWThj4qqLbTLlq7Ssj8B+fIQ1EuCEGI2lKsyQeIw==}
 
@@ -1592,6 +1616,10 @@ packages:
   ms@2.1.3:
     resolution: {integrity: sha512-6FlzubTLZG3J2a/NVCAleEhjzq5oxgHyaCU9yYXvcLsvoVaHJq/s5xXI6/XXP6tz7R9xAOtHnSO/tXtF3WRTlA==}
 
+  msgpack-lite@0.1.26:
+    resolution: {integrity: sha512-SZ2IxeqZ1oRFGo0xFGbvBJWMp3yLIY9rlIJyxy8CGrwZn1f0ZK4r6jV/AM1r0FZMDUkWkglOk/eeKIL9g77Nxw==}
+    hasBin: true
+
   nanoid@3.3.7:
     resolution: {integrity: sha512-eSRppjcPIatRIMC1U6UngP8XFcz8MQWGQdt1MTBQ7NaAmvXDfvNxbvWV3x2y6CdEUciCSsDHDQZbhYaB8QEo2g==}
     engines: {node: ^10 || ^12 || ^13.7 || ^14 || >=15.0.1}
@@ -2019,6 +2047,9 @@ packages:
   ufo@1.5.3:
     resolution: {integrity: sha512-Y7HYmWaFwPUmkoQCUIAYpKqkOf+SbVj/2fJJZ4RJMCfZp0rTGwRbzQD+HghfnhKOjL9E01okqz+ncJskGYfBNw==}
 
+  undici-types@7.8.0:
+    resolution: {integrity: sha512-9UJ2xGDvQ43tYyVMpuHlsgApydB8ZKfVYTsLDhXkFL/6gfkp+U8xTGdh8pMJv1SpZna0zxG1DwsKZsreLbXBxw==}
+
   universalify@0.2.0:
     resolution: {integrity: sha512-CJ1QgKmNg3CwvAv/kOFmtnEN05f0D/cn9QntgNOQlQF9dgvVTHj3t+8JPdjqawCHk7V/KA+fbUqzZ9XWhcqPUg==}
     engines: {node: '>= 4.0.0'}
@@ -2613,18 +2644,18 @@ snapshots:
 
   '@sinclair/typebox@0.27.8': {}
 
-  '@sveltejs/adapter-auto@4.0.0(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))':
+  '@sveltejs/adapter-auto@4.0.0(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))':
     dependencies:
-      '@sveltejs/kit': 2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+      '@sveltejs/kit': 2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
       import-meta-resolve: 4.1.0
 
-  '@sveltejs/adapter-static@3.0.1(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))':
+  '@sveltejs/adapter-static@3.0.1(@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))':
     dependencies:
-      '@sveltejs/kit': 2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+      '@sveltejs/kit': 2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
 
-  '@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
+  '@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
     dependencies:
-      '@sveltejs/vite-plugin-svelte': 5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+      '@sveltejs/vite-plugin-svelte': 5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
       '@types/cookie': 0.6.0
       cookie: 0.6.0
       devalue: 5.1.1
@@ -2637,27 +2668,27 @@ snapshots:
       set-cookie-parser: 2.6.0
       sirv: 3.0.1
       svelte: 5.20.4
-      vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
+      vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
 
-  '@sveltejs/vite-plugin-svelte-inspector@4.0.1(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
+  '@sveltejs/vite-plugin-svelte-inspector@4.0.1(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
     dependencies:
-      '@sveltejs/vite-plugin-svelte': 5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+      '@sveltejs/vite-plugin-svelte': 5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
       debug: 4.4.0
       svelte: 5.20.4
-      vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
+      vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
     transitivePeerDependencies:
       - supports-color
 
-  '@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
+  '@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
     dependencies:
-      '@sveltejs/vite-plugin-svelte-inspector': 4.0.1(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+      '@sveltejs/vite-plugin-svelte-inspector': 4.0.1(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
       debug: 4.4.0
       deepmerge: 4.3.1
       kleur: 4.1.5
       magic-string: 0.30.17
       svelte: 5.20.4
-      vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
+      vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
-      vitefu: 1.0.6(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
+      vitefu: 1.0.6(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
     transitivePeerDependencies:
       - supports-color
 
@@ -2714,13 +2745,13 @@ snapshots:
       '@tailwindcss/oxide-win32-arm64-msvc': 4.0.12
       '@tailwindcss/oxide-win32-x64-msvc': 4.0.12
 
-  '@tailwindcss/vite@4.0.12(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
+  '@tailwindcss/vite@4.0.12(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
     dependencies:
       '@tailwindcss/node': 4.0.12
       '@tailwindcss/oxide': 4.0.12
       lightningcss: 1.29.2
       tailwindcss: 4.0.12
-      vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
+      vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
 
   '@tweenjs/tween.js@23.1.2': {}
 
@@ -2737,6 +2768,14 @@ snapshots:
 
   '@types/json-schema@7.0.15': {}
 
+  '@types/msgpack-lite@0.1.11':
+    dependencies:
+      '@types/node': 24.0.10
+
+  '@types/node@24.0.10':
+    dependencies:
+      undici-types: 7.8.0
+
   '@types/semver@7.5.8': {}
 
   '@types/stats.js@0.17.3': {}
@@ -3259,6 +3298,8 @@ snapshots:
 
   esutils@2.0.3: {}
 
+  event-lite@0.1.3: {}
+
   execa@5.1.1:
     dependencies:
       cross-spawn: 7.0.3
@@ -3414,6 +3455,8 @@ snapshots:
     dependencies:
       safer-buffer: 2.1.2
 
+  ieee754@1.2.1: {}
+
   ignore@5.3.1: {}
 
   import-fresh@3.3.0:
@@ -3432,6 +3475,8 @@ snapshots:
 
   inherits@2.0.4: {}
 
+  int64-buffer@0.1.10: {}
+
   is-binary-path@2.1.0:
     dependencies:
       binary-extensions: 2.3.0
@@ -3458,6 +3503,8 @@ snapshots:
 
   is-stream@3.0.0: {}
 
+  isarray@1.0.0: {}
+
   isexe@2.0.0: {}
 
   jiti@2.4.2: {}
@@ -3635,6 +3682,13 @@ snapshots:
 
   ms@2.1.3: {}
 
+  msgpack-lite@0.1.26:
+    dependencies:
+      event-lite: 0.1.3
+      ieee754: 1.2.1
+      int64-buffer: 0.1.10
+      isarray: 1.0.0
+
   nanoid@3.3.7: {}
 
   nanoid@3.3.8: {}
@@ -4010,6 +4064,8 @@ snapshots:
 
   ufo@1.5.3: {}
 
+  undici-types@7.8.0: {}
+
   universalify@0.2.0: {}
 
   unplugin-icons@0.18.5:
@@ -4054,13 +4110,13 @@ snapshots:
 
   uzip@0.20201231.0: {}
 
-  vite-node@1.2.0(lightningcss@1.29.2):
+  vite-node@1.2.0(@types/node@24.0.10)(lightningcss@1.29.2):
     dependencies:
       cac: 6.7.14
       debug: 4.4.0
       pathe: 1.1.2
       picocolors: 1.0.1
-      vite: 5.4.14(lightningcss@1.29.2)
+      vite: 5.4.14(@types/node@24.0.10)(lightningcss@1.29.2)
     transitivePeerDependencies:
       - '@types/node'
       - less
@@ -4072,31 +4128,33 @@ snapshots:
       - supports-color
       - terser
 
-  vite@5.4.14(lightningcss@1.29.2):
+  vite@5.4.14(@types/node@24.0.10)(lightningcss@1.29.2):
     dependencies:
       esbuild: 0.21.5
       postcss: 8.5.3
       rollup: 4.34.8
     optionalDependencies:
+      '@types/node': 24.0.10
       fsevents: 2.3.3
       lightningcss: 1.29.2
 
-  vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2):
+  vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2):
     dependencies:
       esbuild: 0.25.0
       postcss: 8.5.3
       rollup: 4.34.8
     optionalDependencies:
+      '@types/node': 24.0.10
       fsevents: 2.3.3
       jiti: 2.4.2
       lightningcss: 1.29.2
       yaml: 2.4.2
 
-  vitefu@1.0.6(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)):
+  vitefu@1.0.6(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)):
     optionalDependencies:
-      vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
+      vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
 
-  vitest@1.2.0(jsdom@24.0.0)(lightningcss@1.29.2):
+  vitest@1.2.0(@types/node@24.0.10)(jsdom@24.0.0)(lightningcss@1.29.2):
     dependencies:
       '@vitest/expect': 1.2.0
       '@vitest/runner': 1.2.0
@@ -4116,10 +4174,11 @@ snapshots:
       strip-literal: 1.3.0
       tinybench: 2.8.0
       tinypool: 0.8.4
-      vite: 5.4.14(lightningcss@1.29.2)
+      vite: 5.4.14(@types/node@24.0.10)(lightningcss@1.29.2)
-      vite-node: 1.2.0(lightningcss@1.29.2)
+      vite-node: 1.2.0(@types/node@24.0.10)(lightningcss@1.29.2)
       why-is-node-running: 2.2.2
     optionalDependencies:
+      '@types/node': 24.0.10
       jsdom: 24.0.0
     transitivePeerDependencies:
       - less

app/src/lib/stores/socket.ts

@@ -1,122 +1,132 @@
-import { writable } from 'svelte/store';
+import { writable } from 'svelte/store'
 
-const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const;
+const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
-type SocketEvent = (typeof socketEvents)[number];
+type SocketEvent = (typeof socketEvents)[number]
 
-function createWebSocket() {
+export enum Topics {
-	let listeners = new Map<string, Set<(data?: unknown) => void>>();
+  imu = 0,
-	const { subscribe, set } = writable(false);
+  mode = 1,
-	const reconnectTimeoutTime = 5000;
+  command = 2,
-	let unresponsiveTimeoutId: number;
+  servo = 3,
-	let reconnectTimeoutId: number;
+  input = 4,
-	let ws: WebSocket;
+  angles = 5,
-	let socketUrl: string | URL;
+  position = 6
-
-	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();
+function createWebSocket() {
+  let listeners = new Map<string | Topics, 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 as unknown as Topics)
+      }
+    }
+    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: Topics, 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: Topics, data: unknown) {
+    if (!ws || ws.readyState !== WebSocket.OPEN) return
+    ws.send(JSON.stringify([2, event, data]))
+  }
+
+  function unsubscribeToEvent(event: Topics) {
+    if (!ws || ws.readyState !== WebSocket.OPEN) return
+    ws.send(`[1,${event}]`)
+  }
+
+  function subscribeToEvent(event: Topics) {
+    if (!ws || ws.readyState !== WebSocket.OPEN) return
+    ws.send(`[0,${event}]`)
+  }
+
+  return {
+    subscribe,
+    sendEvent,
+    init,
+    on: <T>(event: Topics | SocketEvent, listener: (data: T) => void): (() => void) => {
+      let eventListeners = listeners.get(event)
+      if (!eventListeners) {
+        if (!socketEvents.includes(event)) {
+          subscribeToEvent(event)
+        }
+        eventListeners = new Set()
+        listeners.set(event, eventListeners)
+      }
+      eventListeners.add(listener as (data: any) => void)
+
+      return () => {
+        unsubscribe(event, listener)
+      }
+    },
+    off: (event: Topics, listener?: (data: any) => void) => {
+      unsubscribe(event, listener)
+    }
+  }
+}
+
+export const socket = createWebSocket()

esp32/.gitignore

@@ -2,6 +2,6 @@
 data/
 www/
 build/
-lib/ESP32-sveltekit/WWWData.h
+include/WWWData.h
 **/.vscode/c_cpp_properties.json
 **/.vscode/launch.json

esp32/build_settings.ini

@@ -6,3 +6,5 @@ build_flags =
     -D SERVE_CONFIG_FILES
     -D CORS_ORIGIN=\"*\"
     -D ENABLE_CORS
+    -D USE_MSGPACK=1 ; Use either msgpack or json
+    -D USE_JSON=0    ; Use either msgpack or json

esp32/include/adapters/bluetooth.hpp

@@ -0,0 +1,43 @@
+#pragma once
+#include <BLEDevice.h>
+#include <BLEServer.h>
+#include <BLEUtils.h>
+#include <BLE2902.h>
+
+#include "comm_base.hpp"
+#include "event_bus.hpp"
+#include "topic.hpp"
+
+class BluetoothService : public CommBase<> {
+    BLEServer* bleServer {nullptr};
+    BLECharacteristic* txCharacteristic {nullptr};
+    BLECharacteristic* rxCharacteristic {nullptr};
+    bool connected {false};
+
+  public:
+    void begin(const char* name);
+
+  private:
+    void handleReceive(const std::string& data);
+    void send(size_t clientId, const char* data, size_t len) override;
+
+    struct ServerCb : BLEServerCallbacks {
+        BluetoothService* svc;
+        ServerCb(BluetoothService* s) : svc(s) {}
+        void onConnect(BLEServer*) override { svc->connected = true; }
+        void onDisconnect(BLEServer* s) override {
+            svc->connected = false;
+            for (size_t i = 0; i < static_cast<size_t>(Topic::COUNT); ++i) svc->unsubscribe(static_cast<Topic>(i), 0);
+            svc->bleServer->startAdvertising();
+        }
+    };
+
+    struct RxCb : BLECharacteristicCallbacks {
+        BluetoothService* svc;
+        RxCb(BluetoothService* s) : svc(s) {}
+        void onWrite(BLECharacteristic* c) override {
+            auto v = c->getValue();
+            if (!v.empty()) svc->handleReceive(v);
+        }
+    };
+};

esp32/include/adapters/comm_base.hpp

@@ -0,0 +1,95 @@
+#pragma once
+#include "event_bus.hpp"
+#include <ArduinoJson.h>
+#include <array>
+#include <bitset>
+#include <freertos/FreeRTOS.h>
+#include "topic.hpp"
+
+#ifndef MAX_CID
+#define MAX_CID 64
+#endif
+
+enum class MsgKind : uint8_t { Connect = 0, Disconnect = 1, Event = 2, Ping = 3, Pong = 4 };
+
+template <size_t MaxCid = MAX_CID, size_t NTopics = static_cast<size_t>(Topic::COUNT)>
+class CommBase {
+    using Bits = std::bitset<MaxCid>;
+    std::array<Bits, NTopics> subs_;
+    portMUX_TYPE mux_ portMUX_INITIALIZER_UNLOCKED;
+
+    std::array<void*, NTopics> subscriptionHandle {};
+
+    static constexpr size_t invalid = SIZE_MAX;
+
+    static constexpr size_t idx(Topic t) {
+        size_t i = static_cast<size_t>(t);
+        return i < NTopics ? i : invalid;
+    }
+
+    template <Topic T>
+    void encode(JsonDocument& d, const typename TopicTraits<T>::Msg& m) {
+        auto a = d.to<JsonArray>();
+        a.add(static_cast<uint8_t>(MsgKind::Event));
+        a.add(static_cast<uint8_t>(T));
+        toJson(a.add<JsonVariant>(), m);
+    }
+
+  protected:
+    virtual void send(size_t cid, const char* data, size_t len) = 0;
+
+    template <class Msg>
+    auto& getHandle(Topic topic) {
+        using H = typename EventBus<Msg>::Handle;
+        static H dummy;
+        auto* p = static_cast<H*>(subscriptionHandle[size_t(topic)]);
+        return p ? *p : dummy;
+    }
+
+    template <class Msg>
+    void setHandle(Topic topic, typename EventBus<Msg>::Handle&& h) {
+        using H = typename EventBus<Msg>::Handle;
+        subscriptionHandle[size_t(topic)] = new H(std::move(h));
+    }
+
+  public:
+    void subscribe(Topic t, size_t cid) {
+        size_t i = idx(t);
+        if (i == invalid) return;
+        portENTER_CRITICAL(&mux_);
+        subs_[i].set(cid);
+        portEXIT_CRITICAL(&mux_);
+    }
+
+    void unsubscribe(Topic t, size_t cid) {
+        size_t i = idx(t);
+        if (i == invalid) return;
+        portENTER_CRITICAL(&mux_);
+        subs_[i].reset(cid);
+        portEXIT_CRITICAL(&mux_);
+    }
+
+    bool has(Topic t) const {
+        size_t i = idx(t);
+        return i == invalid ? false : subs_[i].any();
+    }
+
+    template <Topic T>
+    void emit(const typename TopicTraits<T>::Msg& m) {
+        constexpr size_t i = idx(T);
+        if (i == invalid) return;
+        if (!subs_[i].any()) return;
+
+        JsonDocument doc;
+        encode<T>(doc, m);
+        String out;
+#if USE_MSGPACK
+        serializeMsgPack(doc, out);
+#else
+        serializeJson(doc, out);
+#endif
+        auto& b = subs_[i];
+        for (size_t cid = 0; cid < MaxCid; ++cid)
+            if (b.test(cid)) send(cid, out.c_str(), out.length());
+    }
+};

esp32/include/adapters/websocket.hpp

@@ -0,0 +1,33 @@
+#ifndef Socket_h
+#define Socket_h
+
+#include <PsychicHttp.h>
+#include <ArduinoJson.h>
+#include <map>
+#include <list>
+#include <functional>
+
+#include "event_bus.hpp"
+#include "adapters/comm_base.hpp"
+#include "topic.hpp"
+
+class EventSocket : public CommBase<> {
+    PsychicWebSocketHandler _socket;
+
+  public:
+    EventSocket();
+    PsychicWebSocketHandler *getHandler() { return &_socket; }
+
+  private:
+    void send(size_t clientId, const char *data, size_t len) override;
+
+    void handleReceive(const std::string &data);
+
+    void onWSOpen(PsychicWebSocketClient *client);
+    void onWSClose(PsychicWebSocketClient *client);
+    esp_err_t onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame);
+};
+
+extern EventSocket socket;
+
+#endif

esp32/include/event_bus.hpp

@@ -0,0 +1,259 @@
+#pragma once
+#include <array>
+#include <optional>
+#include <atomic>
+#include <cstddef>
+#include <cstring>
+#include <type_traits>
+#include <utility>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <freertos/queue.h>
+
+template <typename Sig, size_t MaxSize>
+class FixedFn;
+
+template <typename R, typename... A, size_t MaxSize>
+class FixedFn<R(A...), MaxSize> {
+    alignas(void*) std::byte buf[MaxSize];
+    void (*call)(void*, A&&...) {};
+    void (*moveFn)(void*, void*) {};
+    void (*destroy)(void*) {};
+
+  public:
+    template <typename Fun>
+    void set(Fun&& f) {
+        static_assert(sizeof(Fun) <= MaxSize);
+        new (buf) Fun(std::forward<Fun>(f));
+        call = [](void* p, A&&... as) { (*reinterpret_cast<Fun*>(p))(std::forward<A>(as)...); };
+        moveFn = [](void* d, void* s) { new (d) Fun(std::move(*reinterpret_cast<Fun*>(s))); };
+        destroy = [](void* p) { reinterpret_cast<Fun*>(p)->~Fun(); };
+    }
+    R operator()(A... as) const {
+        return call(const_cast<void*>(static_cast<const void*>(buf)), std::forward<A>(as)...);
+    }
+    FixedFn() = default;
+    FixedFn(FixedFn&& o) {
+        if (o.moveFn) o.moveFn(buf, o.buf);
+        call = o.call;
+        moveFn = o.moveFn;
+        destroy = o.destroy;
+        o.destroy = nullptr;
+    }
+    FixedFn(const FixedFn& o) {
+        std::memcpy(buf, o.buf, MaxSize);
+        call = o.call;
+        moveFn = o.moveFn;
+        destroy = o.destroy;
+    }
+    ~FixedFn() {
+        if (destroy) destroy(buf);
+    }
+    FixedFn& operator=(const FixedFn&) = delete;
+    FixedFn& operator=(FixedFn&&) = delete;
+};
+
+enum class EmitMode { Latest, Batch };
+
+template <typename Msg, size_t QueueDepth = 64, size_t MaxSubs = 8, size_t BatchSize = 16>
+class EventBus {
+    struct Item {
+        Msg payload;
+        size_t exclude;
+    };
+    static constexpr size_t NO_EX = MaxSubs;
+    struct Sub {
+        FixedFn<void(const Msg*, size_t), 48> cb;
+        TickType_t interval;
+        TickType_t last;
+        EmitMode mode;
+        std::array<Msg, BatchSize> buf;
+        size_t cnt;
+    };
+    inline static StaticQueue_t qbuf;
+    inline static Item qStorage[QueueDepth];
+    inline static QueueHandle_t queue =
+        xQueueCreateStatic(QueueDepth, sizeof(Item), reinterpret_cast<uint8_t*>(qStorage), &qbuf);
+    inline static std::array<std::optional<Sub>, MaxSubs> subs {};
+    inline static portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
+    inline static Msg latest {};
+    inline static std::atomic<bool> hasLatest {false};
+    inline static std::atomic<size_t> subCount {0};
+
+    static void store(const Msg& m) {
+        portENTER_CRITICAL(&mux);
+        latest = m;
+        hasLatest.store(true, std::memory_order_release);
+        portEXIT_CRITICAL(&mux);
+    }
+    static void storeISR(const Msg& m) {
+        UBaseType_t s = portSET_INTERRUPT_MASK_FROM_ISR();
+        latest = m;
+        hasLatest.store(true, std::memory_order_release);
+        portCLEAR_INTERRUPT_MASK_FROM_ISR(s);
+    }
+
+    static void dispatch(const Msg& m, size_t ex) {
+        TickType_t now = xTaskGetTickCount();
+        Sub* ready[MaxSubs];
+        size_t readyCnt = 0;
+
+        portENTER_CRITICAL(&mux);
+        for (size_t i = 0; i < MaxSubs; ++i) {
+            auto& opt = subs[i];
+            if (!opt || i == ex) continue;
+            Sub& s = *opt;
+            TickType_t dt = now - s.last;
+
+            if (s.interval && dt < s.interval) {
+                if (s.mode == EmitMode::Batch && s.cnt < BatchSize)
+                    s.buf[s.cnt++] = m;
+                else if (s.mode == EmitMode::Latest) {
+                    s.buf[0] = m;
+                    s.cnt = 1;
+                }
+            } else {
+                s.buf[s.cnt++] = m;
+                s.last = now;
+                ready[readyCnt++] = &s;
+            }
+        }
+        portEXIT_CRITICAL(&mux);
+
+        for (size_t i = 0; i < readyCnt; ++i) {
+            Sub* s = ready[i];
+            s->cb(s->buf.data(), s->cnt);
+            s->cnt = 0;
+        }
+    }
+
+    static void worker(void*) {
+        Item it;
+        while (xQueueReceive(queue, &it, portMAX_DELAY) == pdTRUE) dispatch(it.payload, it.exclude);
+    }
+    static void ensureTask() {
+        static bool once = (xTaskCreatePinnedToCore(worker, "evtbus", 4096, nullptr, 6, nullptr, 1), true);
+        (void)once;
+    }
+    static bool push(const Msg& m, size_t ex = NO_EX, TickType_t to = 0) {
+        ensureTask();
+        Item it {m, ex};
+        return xQueueSend(queue, &it, to) == pdTRUE;
+    }
+
+  public:
+    class Handle {
+        size_t idx {NO_EX};
+        friend class EventBus;
+        explicit Handle(size_t i) : idx(i) {}
+
+      public:
+        Handle() = default;
+        Handle(const Handle&) = delete;
+        Handle& operator=(const Handle&) = delete;
+        Handle(Handle&& o) noexcept : idx(o.idx) { o.idx = NO_EX; }
+        Handle& operator=(Handle&& o) noexcept {
+            if (this != &o) {
+                unsubscribe();
+                idx = o.idx;
+                o.idx = NO_EX;
+            }
+            return *this;
+        }
+        ~Handle() { unsubscribe(); }
+        void unsubscribe() {
+            if (idx < MaxSubs) {
+                portENTER_CRITICAL(&mux);
+                subs[idx].reset();
+                portEXIT_CRITICAL(&mux);
+                subCount.fetch_sub(1, std::memory_order_acq_rel);
+                idx = NO_EX;
+            }
+        }
+        bool valid() const { return idx < MaxSubs; }
+    };
+
+    template <typename C>
+    static Handle subscribe(uint32_t ms, EmitMode mode, C fn) {
+        ensureTask();
+        portENTER_CRITICAL(&mux);
+        for (size_t i = 0; i < MaxSubs; ++i)
+            if (!subs[i]) {
+                subs[i].emplace();
+                Sub& s = *subs[i];
+                s.cb.set(std::move(fn));
+                s.interval = pdMS_TO_TICKS(ms);
+                s.last = xTaskGetTickCount();
+                s.mode = mode;
+                s.cnt = 0;
+                subCount.fetch_add(1, std::memory_order_acq_rel);
+                portEXIT_CRITICAL(&mux);
+                return Handle(i);
+            }
+        portEXIT_CRITICAL(&mux);
+        return Handle(NO_EX);
+    }
+
+    template <typename C>
+    static Handle subscribe(C fn) {
+        if constexpr (std::is_invocable_v<C, const Msg*, size_t>)
+            return subscribe(0, EmitMode::Latest, std::move(fn));
+        else
+            return subscribe(0, EmitMode::Latest, [fn = std::move(fn)](const Msg* p, size_t n) {
+                for (size_t i = 0; i < n; ++i) fn(p[i]);
+            });
+    }
+
+    template <typename C>
+    static Handle subscribe(uint32_t ms, C fn) {
+        if constexpr (std::is_invocable_v<C, const Msg*, size_t>)
+            return subscribe(ms, EmitMode::Batch, std::move(fn));
+        else
+            return subscribe(ms, EmitMode::Batch, [fn = std::move(fn)](const Msg* p, size_t n) {
+                for (size_t i = 0; i < n; ++i) fn(p[i]);
+            });
+    }
+
+    static void publish(const Msg& m) {
+        store(m);
+        push(m, NO_EX, portMAX_DELAY);
+    }
+    static void publish(const Msg& m, const Handle& h) {
+        if (h.valid())
+            dispatch(m, h.idx);
+        else
+            publish(m);
+    }
+
+    static bool publishAsync(const Msg& m) {
+        store(m);
+        return push(m);
+    }
+    static bool publishAsync(const Msg& m, const Handle& h) {
+        if (h.valid()) dispatch(m, h.idx);
+        return publishAsync(m);
+    }
+
+    static void publishISR(const Msg& m, BaseType_t* hpw = nullptr) {
+        storeISR(m);
+        Item it {m, NO_EX};
+        xQueueSendFromISR(queue, &it, hpw);
+    }
+
+    static bool peek(Msg& out) {
+        if (!hasLatest.load(std::memory_order_acquire)) return false;
+        portENTER_CRITICAL(&mux);
+        out = latest;
+        portEXIT_CRITICAL(&mux);
+        return true;
+    }
+    static bool take(Msg& out) {
+        if (!hasLatest.load(std::memory_order_acquire)) return false;
+        portENTER_CRITICAL(&mux);
+        out = latest;
+        hasLatest.store(false, std::memory_order_release);
+        portEXIT_CRITICAL(&mux);
+        return true;
+    }
+    static bool hasSubscribers() { return subCount.load(std::memory_order_acquire) > 0; }
+};

esp32/include/features.h

@@ -67,6 +67,18 @@
 #define USE_MDNS 1
 #endif
 
+// ESP32 MSGPACK on by default
+#ifndef USE_MSGPACK
+#define USE_MSGPACK 1
+#endif
+
+// ESP32 JSON off by default
+#ifndef USE_JSON
+#define USE_JSON 0
+#endif
+
+static_assert(!(USE_JSON == 1 && USE_MSGPACK == 1), "Cannot set both USE_JSON and USE_MSGPACK to 1 simultaneously");
+
 namespace feature_service {
 
 void printFeatureConfiguration();

esp32/include/firmware_download_service.h

@@ -4,7 +4,7 @@
 
 #include <WiFi.h>
 #include <ArduinoJson.h>
-#include <event_socket.h>
+#include <event_bus.hpp>
 #include <PsychicHttp.h>
 
 #include <HTTPClient.h>

esp32/include/firmware_upload_service.h

@@ -8,7 +8,7 @@
 
 #include <PsychicHttp.h>
 #include <system_service.h>
-#include <event_socket.h>
+#include <event_bus.hpp>
 
 enum FileType { ft_none = 0, ft_firmware = 1, ft_md5 = 2 };
 

esp32/include/motion.h

@@ -1,7 +1,8 @@
 #ifndef MotionService_h
 #define MotionService_h
 
-#include <event_socket.h>
+#include <event_bus.hpp>
+#include <topic.hpp>
 #include <kinematics.h>
 #include <peripherals/servo_controller.h>
 #include <utils/timing.h>
@@ -21,51 +22,37 @@ enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, CRAWL, WA
 
 class MotionService {
   public:
-    MotionService(ServoController *servoController) : _servoController(servoController) {}
+    MotionService(ServoController* servoController) : _servoController(servoController) {}
 
     void begin() {
-        socket.onEvent(INPUT_EVENT, [&](JsonObject &root, int originId) { handleInput(root, originId); });
+        setupEventBusSubscriptions();
-
-        socket.onEvent(MODE_EVENT, [&](JsonObject &root, int originId) { handleMode(root, originId); });
-
-        socket.onEvent(ANGLES_EVENT, [&](JsonObject &root, int originId) { anglesEvent(root, originId); });
-
-        socket.onEvent(POSITION_EVENT, [&](JsonObject &root, int originId) { positionEvent(root, originId); });
-
-        socket.onSubscribe(ANGLES_EVENT,
-                           std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
-
         body_state.updateFeet(kinematics.default_feet_positions);
     }
 
-    void anglesEvent(JsonObject &root, int originId) {
+    void anglesEvent(const MotionAnglesMsg& msg) {
-        JsonArray array = root["data"].as<JsonArray>();
         for (int i = 0; i < 12; i++) {
-            angles[i] = array[i];
+            angles[i] = msg.angles[i];
         }
-        syncAngles(String(originId));
+        syncAngles();
     }
 
-    void positionEvent(JsonObject &root, int originId) {
+    void positionEvent(const MotionPositionMsg& msg) {
-        JsonArray array = root["data"].as<JsonArray>();
+        body_state.omega = msg.omega;
-        body_state.omega = array[0];
+        body_state.phi = msg.phi;
-        body_state.phi = array[1];
+        body_state.psi = msg.psi;
-        body_state.psi = array[2];
+        body_state.xm = msg.xm;
-        body_state.xm = array[3];
+        body_state.ym = msg.ym;
-        body_state.ym = array[4];
+        body_state.zm = msg.zm;
-        body_state.zm = array[5];
     }
 
-    void handleInput(JsonObject &root, int originId) {
+    void handleInput(const MotionInputMsg& msg) {
-        JsonArray array = root["data"].as<JsonArray>();
+        command.lx = msg.lx;
-        command.lx = array[1];
+        command.ly = msg.ly;
-        command.lx = array[1];
+        command.rx = msg.rx;
-        command.ly = array[2];
+        command.ry = msg.ry;
-        command.rx = array[3];
+        command.h = msg.h;
-        command.ry = array[4];
+        command.s = msg.s;
-        command.h = array[5];
+        command.s1 = msg.s1;
-        command.s = array[6];
-        command.s1 = array[7];
 
         body_state.ym = (command.h + 127.f) * 0.35f / 100;
 
@@ -81,25 +68,27 @@ class MotionService {
         }
     }
 
-    void handleMode(JsonObject &root, int originId) {
+    void handleMode(const MotionModeMsg& msg) {
-        motionState = (MOTION_STATE)root["data"].as<int>();
+        motionState = (MOTION_STATE)msg.mode;
         ESP_LOGV("MotionService", "Mode %d", motionState);
-        char output[2];
+
-        itoa((int)motionState, output, 10);
         motionState == MOTION_STATE::DEACTIVATED ? _servoController->deactivate() : _servoController->activate();
-        socket.emit(MODE_EVENT, output, String(originId).c_str());
+
+        MotionModeMsg response;
+        response.mode = msg.mode;
+        EventBus<MotionModeMsg>::publishAsync(response, _modeHandle);
     }
 
-    void emitAngles(const String &originId = "", bool sync = false) {
+    void emitAngles() {
-        char output[100];
+        MotionAnglesMsg anglesMsg;
-        snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0],
+        for (int i = 0; i < 12; i++) {
-                 angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9],
+            anglesMsg.angles[i] = angles[i];
-                 angles[10], angles[11]);
+        }
-        socket.emit(ANGLES_EVENT, output, originId.c_str());
+        EventBus<MotionAnglesMsg>::publishAsync(anglesMsg, _anglesHandle);
     }
 
-    void syncAngles(const String &originId = "", bool sync = false) {
+    void syncAngles() {
-        emitAngles(originId, sync);
+        emitAngles();
         _servoController->setAngles(angles);
     }
 
@@ -134,10 +123,33 @@ class MotionService {
         return updated;
     }
 
-    float *getAngles() { return angles; }
+    float* getAngles() { return angles; }
 
   private:
-    ServoController *_servoController;
+    void setupEventBusSubscriptions() {
+        _inputHandle = EventBus<MotionInputMsg>::subscribe([this](const MotionInputMsg* msg, size_t n) {
+            if (n > 0) handleInput(msg[0]);
+        });
+
+        _modeHandle = EventBus<MotionModeMsg>::subscribe([this](const MotionModeMsg* msg, size_t n) {
+            if (n > 0) handleMode(msg[0]);
+        });
+
+        _anglesHandle = EventBus<MotionAnglesMsg>::subscribe([this](const MotionAnglesMsg* msg, size_t n) {
+            if (n > 0) anglesEvent(msg[0]);
+        });
+
+        _positionHandle = EventBus<MotionPositionMsg>::subscribe([this](const MotionPositionMsg* msg, size_t n) {
+            if (n > 0) positionEvent(msg[0]);
+        });
+    }
+
+    EventBus<MotionInputMsg>::Handle _inputHandle;
+    EventBus<MotionModeMsg>::Handle _modeHandle;
+    EventBus<MotionAnglesMsg>::Handle _anglesHandle;
+    EventBus<MotionPositionMsg>::Handle _positionHandle;
+
+    ServoController* _servoController;
     Kinematics kinematics;
     ControllerCommand command = {0, 0, 0, 0, 0, 0, 0, 0};
 

esp32/include/msgs/command_msg.hpp

@@ -0,0 +1,17 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct CommandMsg {
+    float x, y;
+    friend void toJson(JsonVariant v, CommandMsg const &c) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(c.x);
+        arr.add(c.y);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        x = arr[0].as<float>();
+        y = arr[1].as<float>();
+    }
+};

esp32/include/msgs/i2c_scan_msg.hpp

@@ -0,0 +1,17 @@
+#pragma once
+#include <ArduinoJson.h>
+#include <vector>
+
+struct I2CScanMsg {
+    std::vector<uint8_t> addresses;
+
+    friend void toJson(JsonVariant v, I2CScanMsg const& c) {
+        JsonArray arr = v.to<JsonArray>();
+        for (uint8_t addr : c.addresses) arr.add(addr);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        addresses.clear();
+        for (JsonVariantConst val : o.as<JsonArrayConst>()) addresses.push_back(val.as<uint8_t>());
+    }
+};

esp32/include/msgs/imu_msg.hpp

@@ -0,0 +1,18 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct ImuMsg {
+    float ypr[3];
+    friend void toJson(JsonVariant v, ImuMsg const &a) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(a.ypr[0]);
+        arr.add(a.ypr[1]);
+        arr.add(a.ypr[2]);
+    }
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        ypr[0] = arr[0].as<float>();
+        ypr[1] = arr[1].as<float>();
+        ypr[2] = arr[2].as<float>();
+    }
+};

esp32/include/msgs/mode_msg.hpp

@@ -0,0 +1,10 @@
+#pragma once
+#include <ArduinoJson.h>
+
+enum class MotionState { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, CRAWL, WALK };
+
+struct ModeMsg {
+    MotionState mode;
+    friend void toJson(JsonVariant v, ModeMsg const &m) { v.set(static_cast<int>(m.mode)); }
+    void fromJson(JsonVariantConst o) { mode = (MotionState)o.as<int>(); }
+};

esp32/include/msgs/motion_angles_msg.hpp

@@ -0,0 +1,20 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionAnglesMsg {
+    float angles[12];
+
+    friend void toJson(JsonVariant v, MotionAnglesMsg const &m) {
+        JsonArray arr = v.to<JsonArray>();
+        for (int i = 0; i < 12; i++) {
+            arr.add(m.angles[i]);
+        }
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        for (int i = 0; i < 12 && i < arr.size(); i++) {
+            angles[i] = arr[i].as<float>();
+        }
+    }
+};

esp32/include/msgs/motion_input_msg.hpp

@@ -0,0 +1,28 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionInputMsg {
+    float lx, ly, rx, ry, h, s, s1;
+
+    friend void toJson(JsonVariant v, MotionInputMsg const &m) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(m.lx);
+        arr.add(m.ly);
+        arr.add(m.rx);
+        arr.add(m.ry);
+        arr.add(m.h);
+        arr.add(m.s);
+        arr.add(m.s1);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        lx = arr[0].as<float>();
+        ly = arr[1].as<float>();
+        rx = arr[2].as<float>();
+        ry = arr[3].as<float>();
+        h = arr[4].as<float>();
+        s = arr[5].as<float>();
+        s1 = arr[6].as<float>();
+    }
+};

esp32/include/msgs/motion_mode_msg.hpp

@@ -0,0 +1,10 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionModeMsg {
+    int mode;
+
+    friend void toJson(JsonVariant v, MotionModeMsg const &m) { v.set(m.mode); }
+
+    void fromJson(JsonVariantConst o) { mode = o.as<int>(); }
+};

esp32/include/msgs/motion_position_msg.hpp

@@ -0,0 +1,26 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionPositionMsg {
+    float omega, phi, psi, xm, ym, zm;
+
+    friend void toJson(JsonVariant v, MotionPositionMsg const &m) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(m.omega);
+        arr.add(m.phi);
+        arr.add(m.psi);
+        arr.add(m.xm);
+        arr.add(m.ym);
+        arr.add(m.zm);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        omega = arr[0].as<float>();
+        phi = arr[1].as<float>();
+        psi = arr[2].as<float>();
+        xm = arr[3].as<float>();
+        ym = arr[4].as<float>();
+        zm = arr[5].as<float>();
+    }
+};

esp32/include/msgs/servo_msg.hpp

@@ -0,0 +1,22 @@
+#pragma once
+#include <ArduinoJson.h>
+
+#ifndef NUM_SERVOS
+#define NUM_SERVOS 12
+#endif
+
+struct ServoMsg {
+    float angles[NUM_SERVOS];
+    friend void toJson(JsonVariant v, ServoMsg const &a) {
+        JsonArray arr = v.to<JsonArray>();
+        for (int i = 0; i < NUM_SERVOS; i++) {
+            arr.add(a.angles[i]);
+        }
+    }
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        for (int i = 0; i < NUM_SERVOS; i++) {
+            angles[i] = arr[i].as<float>();
+        }
+    }
+};

esp32/include/msgs/topics.def

@@ -0,0 +1,9 @@
+#define TOPIC_LIST                       \
+    X(Imu, ImuMsg)                       \
+    X(Mode, ModeMsg)                     \
+    X(Command, CommandMsg)               \
+    X(Servo, ServoMsg)                   \
+    X(MotionInput, MotionInputMsg)       \
+    X(MotionAngles, MotionAnglesMsg)     \
+    X(MotionPosition, MotionPositionMsg) \
+    X(MotionMode, MotionModeMsg)

esp32/include/peripherals/peripherals.h

@@ -55,15 +55,15 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
         _eventEndpoint.begin();
         _persistence.readFromFS();
 
-        socket.onEvent(EVENT_I2C_SCAN, [&](JsonObject &root, int originId) {
+        // socket.onEvent(EVENT_I2C_SCAN, [&](JsonObject &root, int originId) {
-            scanI2C();
+        //     scanI2C();
-            emitI2C();
+        //     emitI2C();
-        });
+        // });
 
-        socket.onSubscribe(EVENT_I2C_SCAN, [&](const String &originId, bool sync) {
+        // socket.onSubscribe(EVENT_I2C_SCAN, [&](const String &originId, bool sync) {
-            scanI2C();
+        //     scanI2C();
-            emitI2C(originId, sync);
+        //     emitI2C(originId, sync);
-        });
+        // });
 
         updatePins();
 
@@ -115,7 +115,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
         }
         serializeJson(root, output);
         ESP_LOGI("Peripherals", "Emitting I2C scan results, %s %d", originId.c_str(), sync);
-        socket.emit(EVENT_I2C_SCAN, output, originId.c_str(), sync);
+        // socket.emit(EVENT_I2C_SCAN, output, originId.c_str(), sync);
     }
 
     void scanI2C(uint8_t lower = 1, uint8_t higher = 127) {
@@ -191,14 +191,14 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
         _bmp.readBarometer(root);
 #endif
         serializeJson(doc, message);
-        socket.emit(EVENT_IMU, message);
+        // socket.emit(EVENT_IMU, message);
     }
 
     void emitSonar() {
 #if FT_ENABLED(USE_USS)
         char output[16];
         snprintf(output, sizeof(output), "[%.1f,%.1f]", _left_distance, _right_distance);
-        socket.emit("sonar", output);
+        // socket.emit("sonar", output);
 #endif
     }
 

esp32/include/peripherals/servo_controller.h

@@ -2,7 +2,7 @@
 #define ServoController_h
 
 #include <Adafruit_PWMServoDriver.h>
-#include <event_socket.h>
+#include <event_bus.hpp>
 #include <template/stateful_persistence.h>
 #include <template/stateful_service.h>
 #include <template/stateful_endpoint.h>
@@ -32,16 +32,16 @@ class ServoController : public StatefulService<ServoSettings> {
           _persistence(ServoSettings::read, ServoSettings::update, this, SERVO_SETTINGS_FILE) {}
 
     void begin() {
-        socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
+        // socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
-                       [&](JsonObject &root, int originId) { servoEvent(root, originId); });
+        //                [&](JsonObject &root, int originId) { servoEvent(root, originId); });
-        socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) { stateUpdate(root, originId); });
+        // socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) { stateUpdate(root, originId); });
         _persistence.readFromFS();
 
         initializePCA();
-        socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) {
+        // socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) {
-            is_active = root["active"] | false;
+        //     is_active = root["active"] | false;
-            is_active ? activate() : deactivate();
+        //     is_active ? activate() : deactivate();
-        });
+        // });
     }
 
     void pcaWrite(int index, int value) {
@@ -91,7 +91,7 @@ class ServoController : public StatefulService<ServoSettings> {
         snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0],
                  angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9],
                  angles[10], angles[11]);
-        socket.emit("angles", output, String(originId).c_str());
+        // socket.emit("angles", output, String(originId).c_str());
     }
 
     void updateActiveState() { is_active ? activate() : deactivate(); }

esp32/include/spot.h

@@ -14,7 +14,8 @@
 #include <peripherals/servo_controller.h>
 #include <peripherals/led_service.h>
 #include <peripherals/camera_service.h>
-#include <event_socket.h>
+#include <event_bus.hpp>
+#include <adapters/websocket.hpp>
 #include <features.h>
 #include <motion.h>
 #include <task_manager.h>
@@ -80,7 +81,6 @@ class Spot {
     PsychicHttpServer _server;
     WiFiService _wifiService;
     APService _apService;
-    EventSocket _socket;
     MDNSService _mdnsService;
 #if FT_ENABLED(USE_UPLOAD_FIRMWARE)
     FirmwareUploadService _uploadFirmwareService;
@@ -103,7 +103,7 @@ class Spot {
     bool updatedMotion = false;
 
     const char *_appName = APP_NAME;
-    const u_int16_t _numberEndpoints = 120;
+    const u_int16_t _numberEndpoints = 130;
     const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
     const uint16_t _port = 80;
 

esp32/include/system_service.h

@@ -5,7 +5,7 @@
 #include <PsychicHttp.h>
 #include <WiFi.h>
 #include <task_manager.h>
-#include <event_socket.h>
+#include <event_bus.hpp>
 #include <filesystem.h>
 #include <global.h>
 

esp32/include/template/stateful_socket.h

@@ -2,7 +2,7 @@
 
 #include <PsychicHttp.h>
 
-#include <event_socket.h>
+#include <event_bus.hpp>
 #include <template/stateful_service.h>
 
 template <class T>
@@ -15,10 +15,10 @@ class EventEndpoint {
     }
 
     void begin() {
-        socket.onEvent(_event,
+        // socket.onEvent(_event,
-                       std::bind(&EventEndpoint::updateState, this, std::placeholders::_1, std::placeholders::_2));
+        //                std::bind(&EventEndpoint::updateState, this, std::placeholders::_1, std::placeholders::_2));
-        socket.onSubscribe(_event,
+        // socket.onSubscribe(_event,
-                           std::bind(&EventEndpoint::syncState, this, std::placeholders::_1, std::placeholders::_2));
+        //                    std::bind(&EventEndpoint::syncState, this, std::placeholders::_1, std::placeholders::_2));
     }
 
   private:
@@ -38,6 +38,6 @@ class EventEndpoint {
         _statefulService->read(root, _stateReader);
         serializeJson(root, output);
         ESP_LOGV("EventEndpoint", "Syncing state: %s", output.c_str());
-        socket.emit(_event, output.c_str(), originId.c_str(), sync);
+        // socket.emit(_event, output.c_str(), originId.c_str(), sync);
     }
 };

esp32/include/topic.hpp

@@ -0,0 +1,35 @@
+#pragma once
+#include "msgs/imu_msg.hpp"
+#include "msgs/command_msg.hpp"
+#include "msgs/mode_msg.hpp"
+#include "msgs/servo_msg.hpp"
+#include "msgs/motion_input_msg.hpp"
+#include "msgs/motion_angles_msg.hpp"
+#include "msgs/motion_position_msg.hpp"
+#include "msgs/motion_mode_msg.hpp"
+#include "msgs/topics.def"
+
+enum class Topic : uint8_t {
+#define X(e, t) e,
+    TOPIC_LIST
+#undef X
+        COUNT
+};
+
+template <Topic>
+struct TopicTraits;
+
+#define X(e, t)                    \
+    template <>                    \
+    struct TopicTraits<Topic::e> { \
+        using Msg = t;             \
+    };
+TOPIC_LIST
+#undef X
+
+template <typename Msg>
+static Msg parse(JsonVariantConst v) {
+    Msg msg;
+    msg.fromJson(v);
+    return msg;
+}

esp32/lib/ESP32-sveltekit/event_socket.cpp

@@ -1,178 +0,0 @@
-#include <event_socket.h>
-
-SemaphoreHandle_t clientSubscriptionsMutex = xSemaphoreCreateMutex();
-
-message_type_t char_to_message_type(char c) {
-    switch (c) {
-        case '0': return CONNECT;
-        case '1': return DISCONNECT;
-        case '2': return EVENT;
-        case '3': return PING;
-        case '4': return PONG;
-        case '5': return BINARY_EVENT;
-        default: throw std::invalid_argument("Invalid message type");
-    }
-}
-
-const char *getEventName(const char *msg) {
-    const char *start = strchr(msg, '/');
-    if (!start) return nullptr;
-    start++;
-    const char *end = strchr(start, '[');
-    if (!end) return start;
-
-    static char eventName[32];
-    int len = end - start;
-    strncpy(eventName, start, len);
-    eventName[len] = '\0';
-    return eventName;
-}
-
-const char *getEventPayload(const char *msg) {
-    const char *start = strchr(msg + 2, '[');
-    const char *end = msg + strlen(msg) - 1;
-    if (*start == '[') {
-        start++;
-    }
-    int len = end - start;
-    if (len < 0) return nullptr;
-    char *payload = new char[len + 1];
-    strncpy(payload, start, len);
-    payload[len] = '\0';
-    return payload;
-}
-
-EventSocket::EventSocket() {
-    _socket.onOpen((std::bind(&EventSocket::onWSOpen, this, std::placeholders::_1)));
-    _socket.onClose(std::bind(&EventSocket::onWSClose, this, std::placeholders::_1));
-    _socket.onFrame(std::bind(&EventSocket::onFrame, this, std::placeholders::_1, std::placeholders::_2));
-}
-
-void EventSocket::onWSOpen(PsychicWebSocketClient *client) {
-    ESP_LOGI("EventSocket", "ws[%s][%u] connect", client->remoteIP().toString().c_str(), client->socket());
-}
-
-void EventSocket::onWSClose(PsychicWebSocketClient *client) {
-    xSemaphoreTake(clientSubscriptionsMutex, portMAX_DELAY);
-    for (auto &event_subscriptions : client_subscriptions) {
-        event_subscriptions.second.remove(client->socket());
-    }
-    xSemaphoreGive(clientSubscriptionsMutex);
-    ESP_LOGI("EventSocket", "ws[%s][%u] disconnect", client->remoteIP().toString().c_str(), client->socket());
-}
-
-esp_err_t EventSocket::onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame) {
-    ESP_LOGV("EventSocket", "ws[%s][%u] opcode[%d]", request->client()->remoteIP().toString().c_str(),
-             request->client()->socket(), frame->type);
-
-    if (frame->type != HTTPD_WS_TYPE_TEXT) {
-        ESP_LOGE("EventSocket", "Unsupported frame type");
-        return ESP_OK;
-    }
-
-    ESP_LOGV("EventSocket", "Received message: %s", (char *)frame->payload);
-    char *msg = (char *)frame->payload;
-
-    message_type_t message_type = char_to_message_type(msg[0]);
-
-    if (message_type == PING) {
-        ESP_LOGV("EventSocket", "Ping");
-        request->client()->sendMessage("3");
-        return ESP_OK;
-    } else if (message_type == PONG) {
-        ESP_LOGV("EventSocket", "Pong");
-        return ESP_OK;
-    }
-
-    const char *event = getEventName(msg);
-
-    if (!event) {
-        ESP_LOGE("EventSocket", "Invalid event name");
-        return ESP_OK;
-    }
-
-    if (message_type == CONNECT) {
-        ESP_LOGV("EventSocket", "Connect: %s", event);
-        client_subscriptions[event].push_back(request->client()->socket());
-        handleSubscribeCallbacks(event, String(request->client()->socket()));
-    } else if (message_type == DISCONNECT) {
-        ESP_LOGV("EventSocket", "Disconnect: %s", event);
-        client_subscriptions[event].remove(request->client()->socket());
-    } else if (message_type == EVENT) {
-        const char *payload = getEventPayload(msg);
-        if (!payload) {
-            ESP_LOGE("EventSocket", "Invalid event payload");
-            return ESP_OK;
-        }
-        JsonDocument doc;
-        DeserializationError error = deserializeJson(doc, payload);
-        if (error) {
-            ESP_LOGE("EventSocket", "Failed to parse JSON payload");
-            return ESP_OK;
-        }
-        JsonObject jsonObject = doc.as<JsonObject>();
-        handleEventCallbacks(event, jsonObject, request->client()->socket());
-        return ESP_OK;
-    }
-    return ESP_OK;
-}
-
-bool EventSocket::hasSubscribers(const char *event) { return !client_subscriptions[event].empty(); }
-
-void EventSocket::emit(const char *event, const char *payload, const char *originId, bool onlyToSameOrigin) {
-    int originSubscriptionId = originId[0] ? atoi(originId) : -1;
-    xSemaphoreTake(clientSubscriptionsMutex, portMAX_DELAY);
-    auto &subscriptions = client_subscriptions[event];
-    if (subscriptions.empty()) {
-        xSemaphoreGive(clientSubscriptionsMutex);
-        return;
-    }
-    char msg[strlen(event) + strlen(payload) + 10];
-    snprintf(msg, sizeof(msg), "2/%s[%s]", event, payload);
-
-    // if onlyToSameOrigin == true, send the message back to the origin
-    if (onlyToSameOrigin && originSubscriptionId > 0) {
-        auto *client = _socket.getClient(originSubscriptionId);
-        if (client) {
-            ESP_LOGV("EventSocket", "Emitting event: %s to %s, Message: %s", event,
-                     client->remoteIP().toString().c_str(), msg);
-            client->sendMessage(msg);
-        }
-    } else { // else send the message to all other clients
-
-        for (int subscription : client_subscriptions[event]) {
-            if (subscription == originSubscriptionId) continue;
-            auto *client = _socket.getClient(subscription);
-            if (!client) {
-                subscriptions.remove(subscription);
-                continue;
-            }
-            ESP_LOGV("EventSocket", "Emitting event: %s to %s, Message: %s", event,
-                     client->remoteIP().toString().c_str(), msg);
-            client->sendMessage(msg);
-        }
-    }
-    xSemaphoreGive(clientSubscriptionsMutex);
-}
-
-void EventSocket::handleEventCallbacks(String event, JsonObject &jsonObject, int originId) {
-    for (auto &callback : event_callbacks[event]) {
-        callback(jsonObject, originId);
-    }
-}
-
-void EventSocket::handleSubscribeCallbacks(String event, const String &originId) {
-    for (auto &callback : subscribe_callbacks[event]) {
-        callback(originId, true);
-    }
-}
-
-void EventSocket::onEvent(String event, EventCallback callback) {
-    event_callbacks[event].push_back(std::move(callback));
-}
-
-void EventSocket::onSubscribe(String event, SubscribeCallback callback) {
-    subscribe_callbacks[event].push_back(std::move(callback));
-}
-
-EventSocket socket;

esp32/lib/ESP32-sveltekit/event_socket.h

@@ -1,47 +0,0 @@
-#ifndef Socket_h
-#define Socket_h
-
-#include <PsychicHttp.h>
-#include <template/stateful_service.h>
-#include <list>
-#include <map>
-#include <vector>
-
-enum message_type_t { CONNECT = 0, DISCONNECT = 1, EVENT = 2, PING = 3, PONG = 4, BINARY_EVENT = 5 };
-
-typedef std::function<void(JsonObject &root, int originId)> EventCallback;
-typedef std::function<void(const String &originId, bool sync)> SubscribeCallback;
-
-class EventSocket {
-  public:
-    EventSocket();
-
-    PsychicWebSocketHandler *getHandler() { return &_socket; }
-
-    bool hasSubscribers(const char *event);
-
-    void onEvent(String event, EventCallback callback);
-
-    void onSubscribe(String event, SubscribeCallback callback);
-
-    void emit(const char *event, const char *payload, const char *originId = "", bool onlyToSameOrigin = false);
-    // if onlyToSameOrigin == true, the message will be sent to the originId only, otherwise it will be broadcasted to
-    // all clients except the originId
-
-  private:
-    PsychicWebSocketHandler _socket;
-
-    std::map<String, std::list<int>> client_subscriptions;
-    std::map<String, std::list<EventCallback>> event_callbacks;
-    std::map<String, std::list<SubscribeCallback>> subscribe_callbacks;
-    void handleEventCallbacks(String event, JsonObject &jsonObject, int originId);
-    void handleSubscribeCallbacks(String event, const String &originId);
-
-    void onWSOpen(PsychicWebSocketClient *client);
-    void onWSClose(PsychicWebSocketClient *client);
-    esp_err_t onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame);
-};
-
-extern EventSocket socket;
-
-#endif

esp32/scripts/build_app.py

@@ -27,7 +27,7 @@ project_dir = env["PROJECT_DIR"]
 buildFlags = env.ParseFlags(env["BUILD_FLAGS"])
 
 interface_dir = project_dir + "/app"
-output_file = project_dir + "/esp32/lib/ESP32-sveltekit/WWWData.h"
+output_file = project_dir + "/esp32/include/WWWData.h"
 source_www_dir = interface_dir + "/src"
 build_dir = interface_dir + "/build"
 filesystem_dir = project_dir + "/data/www"

esp32/src/adapters/bluetooth.cpp

@@ -0,0 +1,81 @@
+#include <adapters/bluetooth.hpp>
+#include <topic.hpp>
+#include <ArduinoJson.h>
+
+static constexpr auto SERVICE_UUID = "6e400001-b5a3-f393-e0a9-e50e24dcca9e";
+static constexpr auto TX_UUID = "6e400003-b5a3-f393-e0a9-e50e24dcca9e";
+static constexpr auto RX_UUID = "6e400002-b5a3-f393-e0a9-e50e24dcca9e";
+
+void BluetoothService::begin(const char* name) {
+#define X(e, t)                                                                  \
+    setHandle<t>(Topic::e, EventBus<t>::subscribe([this](const t* d, size_t n) { \
+                     if (connected && n) this->emit<Topic::e>(d[0]);             \
+                 }));
+    TOPIC_LIST
+#undef X
+
+    BLEDevice::init(name);
+    bleServer = BLEDevice::createServer();
+    bleServer->setCallbacks(new ServerCb(this));
+    auto* svc = bleServer->createService(SERVICE_UUID);
+    txCharacteristic = svc->createCharacteristic(TX_UUID, BLECharacteristic::PROPERTY_NOTIFY);
+    txCharacteristic->addDescriptor(new BLE2902());
+    rxCharacteristic = svc->createCharacteristic(RX_UUID, BLECharacteristic::PROPERTY_WRITE);
+    rxCharacteristic->setCallbacks(new RxCb(this));
+    svc->start();
+    bleServer->getAdvertising()->start();
+}
+
+void BluetoothService::handleReceive(const std::string& data) {
+    JsonDocument doc;
+#if USE_MSGPACK
+    if (deserializeMsgPack(doc, data)) return;
+#else
+    if (deserializeJson(doc, data)) return;
+#endif
+
+    serializeJson(doc, Serial);
+    Serial.println();
+
+    auto payload = doc.as<JsonArrayConst>();
+
+    MsgKind msgKind = static_cast<MsgKind>(payload[0].as<uint8_t>());
+    switch (msgKind) {
+        case MsgKind::Connect:
+            for (size_t i = 1; i < payload.size(); ++i) subscribe(static_cast<Topic>(payload[i].as<uint8_t>()), 0);
+            break;
+
+        case MsgKind::Disconnect:
+            for (size_t i = 1; i < payload.size(); ++i) {
+                Topic t = static_cast<Topic>(payload[i].as<uint8_t>());
+                unsubscribe(t, 0);
+#define X(e, m)                           \
+    if (t == Topic::e) {                  \
+        auto& h = getHandle<m>(Topic::e); \
+        if (h.valid()) h.unsubscribe();   \
+    }
+                TOPIC_LIST
+#undef X
+            }
+            break;
+
+        case MsgKind::Event:
+            if (payload.size() < 3) break;
+            switch (static_cast<Topic>(payload[1].as<uint8_t>())) {
+#define X(e, m) \
+    case Topic::e: EventBus<m>::publishAsync(parse<m>(payload[2]), getHandle<m>(Topic::e)); break;
+                TOPIC_LIST
+#undef X
+                default: break;
+            }
+            break;
+
+        default: break;
+    }
+}
+
+void BluetoothService::send(size_t, const char* data, size_t len) {
+    if (!connected) return;
+    txCharacteristic->setValue((uint8_t*)data, len);
+    txCharacteristic->notify();
+}

esp32/src/adapters/websocket.cpp

@@ -0,0 +1,105 @@
+#include <adapters/websocket.hpp>
+
+EventSocket::EventSocket() {
+    _socket.onOpen((std::bind(&EventSocket::onWSOpen, this, std::placeholders::_1)));
+    _socket.onClose(std::bind(&EventSocket::onWSClose, this, std::placeholders::_1));
+    _socket.onFrame(std::bind(&EventSocket::onFrame, this, std::placeholders::_1, std::placeholders::_2));
+
+#define X(e, t)                                                                  \
+    setHandle<t>(Topic::e, EventBus<t>::subscribe([this](const t* d, size_t n) { \
+                     if (n) this->emit<Topic::e>(d[0]);                          \
+                 }));
+    TOPIC_LIST
+#undef X
+}
+
+void EventSocket::onWSOpen(PsychicWebSocketClient* client) {
+    ESP_LOGI("EventSocket", "ws[%s][%u] connect", client->remoteIP().toString().c_str(), client->socket());
+}
+
+void EventSocket::onWSClose(PsychicWebSocketClient* client) {
+    for (size_t i = 0; i < static_cast<size_t>(Topic::COUNT); ++i) {
+        unsubscribe(static_cast<Topic>(i), client->socket());
+    }
+
+    ESP_LOGI("EventSocket", "ws[%s][%u] disconnect", client->remoteIP().toString().c_str(), client->socket());
+}
+
+esp_err_t EventSocket::onFrame(PsychicWebSocketRequest* request, httpd_ws_frame* frame) {
+    ESP_LOGV("EventSocket", "ws[%s][%u] opcode[%d]", request->client()->remoteIP().toString().c_str(),
+             request->client()->socket(), frame->type);
+
+    JsonDocument doc;
+
+#if USE_MSGPACK
+    if (frame->type != HTTPD_WS_TYPE_BINARY) {
+        ESP_LOGE("EventSocket", "Unsupported frame type: %d", frame->type);
+        return ESP_OK;
+    }
+    if (deserializeMsgPack(doc, frame->payload, frame->len)) {
+        ESP_LOGE("EventSocket", "Could not deserialize msgpack");
+        return ESP_OK;
+    };
+#else
+    if (frame->type != HTTPD_WS_TYPE_TEXT) {
+        ESP_LOGE("EventSocket", "Unsupported frame type: %d", frame->type);
+        return ESP_OK;
+    }
+    if (deserializeJson(doc, frame->payload, frame->len)) {
+        ESP_LOGE("EventSocket", "Could not deserialize json");
+        return ESP_OK;
+    };
+#endif
+
+    serializeJson(doc, Serial);
+    Serial.println();
+
+    auto payload = doc.as<JsonArrayConst>();
+
+    MsgKind msgKind = static_cast<MsgKind>(payload[0].as<uint8_t>());
+    switch (msgKind) {
+        case MsgKind::Connect:
+            for (size_t i = 1; i < payload.size(); ++i) {
+                subscribe(static_cast<Topic>(payload[i].as<uint8_t>()), request->client()->socket());
+            }
+            break;
+
+        case MsgKind::Disconnect:
+            for (size_t i = 1; i < payload.size(); ++i) {
+                Topic t = static_cast<Topic>(payload[i].as<uint8_t>());
+                unsubscribe(t, request->client()->socket());
+            }
+            break;
+
+        case MsgKind::Event:
+            if (payload.size() < 3) break;
+            switch (static_cast<Topic>(payload[1].as<uint8_t>())) {
+#define X(e, m) \
+    case Topic::e: EventBus<m>::publishAsync(parse<m>(payload[2]), getHandle<m>(Topic::e)); break;
+                TOPIC_LIST
+#undef X
+                default: break;
+            }
+            break;
+
+        case MsgKind::Ping: ESP_LOGV("EventSocket", "Ping"); break;
+
+        case MsgKind::Pong: ESP_LOGV("EventSocket", "Pong"); break;
+
+        default: break;
+    }
+    return ESP_OK;
+}
+
+void EventSocket::send(size_t clientId, const char* data, size_t len) {
+    auto* client = _socket.getClient(clientId);
+    if (!client) return;
+
+#if USE_MSGPACK
+    client->sendMessage(HTTPD_WS_TYPE_BINARY, data, len);
+#else
+    client->sendMessage(HTTPD_WS_TYPE_TEXT, data, len);
+#endif
+}
+
+EventSocket socket;

esp32/src/firmware_download_service.cpp

@@ -22,7 +22,7 @@ void update_started() {
     String output;
     doc["status"] = "preparing";
     serializeJson(doc, output);
-    socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
+    // socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
 }
 
 void update_progress(int currentBytes, int totalBytes) {
@@ -31,7 +31,7 @@ void update_progress(int currentBytes, int totalBytes) {
     int progress = ((currentBytes * 100) / totalBytes);
     if (progress > previousProgress) {
         doc["progress"] = progress;
-        socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
+        // socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
         ESP_LOGV("Download OTA", "HTTP update process at %d of %d bytes... (%d %%)", currentBytes, totalBytes,
                  progress);
     }
@@ -42,7 +42,7 @@ void update_finished() {
     String output;
     doc["status"] = "finished";
     serializeJson(doc, output);
-    socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
+    // socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
 
     // delay to allow the event to be sent out
     vTaskDelay(100 / portTICK_PERIOD_MS);
@@ -70,7 +70,7 @@ void updateTask(void *param) {
             doc["status"] = "error";
             doc["error"] = httpUpdate.getLastErrorString().c_str();
             serializeJson(doc, output);
-            socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
+            // socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
 
             ESP_LOGE("Download OTA", "HTTP Update failed with error (%d): %s", httpUpdate.getLastError(),
                      httpUpdate.getLastErrorString().c_str());
@@ -80,7 +80,7 @@ void updateTask(void *param) {
             doc["status"] = "error";
             doc["error"] = "Update failed, has same firmware version";
             serializeJson(doc, output);
-            socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
+            // socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
 
             ESP_LOGE("Download OTA", "HTTP Update failed, has same firmware version");
             break;
@@ -106,7 +106,7 @@ esp_err_t DownloadFirmwareService::handleDownloadUpdate(PsychicRequest *request,
     String output;
     serializeJson(doc, output);
 
-    socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
+    // socket.emit(EVENT_DOWNLOAD_OTA, output.c_str());
 
     const BaseType_t taskResult = g_taskManager.createTask(&updateTask, "Firmware download", OTA_TASK_STACK_SIZE,
                                                            &downloadURL, (configMAX_PRIORITIES - 1), NULL, 1);

esp32/src/firmware_upload_service.cpp

@@ -88,14 +88,14 @@ esp_err_t FirmwareUploadService::handleUpload(PsychicRequest *request, const Str
             char buffer[64];
             snprintf(buffer, sizeof(buffer), "{\"status\":\"progress\",\"progress\":%.1f}",
                      (float)Update.progress() / (float)fsize * 100.f);
-            socket.emit("otastatus", buffer);
+            // socket.emit("otastatus", buffer);
             delay(20);
         }
         if (final) {
             if (!Update.end(true)) {
                 handleError(request, 500);
             } else {
-                socket.emit("otastatus", "{\"status\":\"finished\",\"progress\":100}");
+                // socket.emit("otastatus", "{\"status\":\"finished\",\"progress\":100}");
                 ESP_LOGI(TAG, "Finish writing update");
             }
         }
@@ -136,7 +136,7 @@ esp_err_t FirmwareUploadService::uploadComplete(PsychicRequest *request) {
 esp_err_t FirmwareUploadService::handleError(PsychicRequest *request, int code) {
     char buffer[64];
     snprintf(buffer, sizeof(buffer), "{\"status\":\"error\",\"error\":\"%d\"}", Update.getError());
-    socket.emit("otastatus", buffer);
+    // socket.emit("otastatus", buffer);
     // if we have had an error already, do nothing
     if (request->_tempObject) {
         return ESP_OK;

esp32/src/main.cpp

@@ -1,6 +1,9 @@
 #include <spot.h>
+#include <event_bus.hpp>
+#include <adapters/bluetooth.hpp>
 
 DRAM_ATTR Spot spot;
+BluetoothService bluetooth;
 
 void IRAM_ATTR SpotControlLoopEntry(void*) {
     ESP_LOGI("main", "Setup complete now runing tsk");
@@ -17,6 +20,7 @@ void IRAM_ATTR SpotControlLoopEntry(void*) {
 
 void setup() {
     Serial.begin(115200);
+    bluetooth.begin("Hexapod");
 
     spot.initialize();
 

esp32/src/system_service.cpp

@@ -136,12 +136,12 @@ void metrics(JsonObject &root) {
 }
 
 void emitMetrics() {
-    if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
+    // if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
     analyticsDoc.clear();
     JsonObject root = analyticsDoc.to<JsonObject>();
     system_service::metrics(root);
     serializeJson(analyticsDoc, analyticsMessage);
-    socket.emit(EVENT_ANALYTICS, analyticsMessage);
+    // socket.emit(EVENT_ANALYTICS, analyticsMessage);
 }
 
 const char *resetReason(esp_reset_reason_t reason) {

platformio.ini

@@ -93,7 +93,11 @@ build_flags =
 	-D CORE_DEBUG_LEVEL=4
 	-D register=
 	-std=gnu++2a
-build_unflags = -std=gnu++11
+    -flto=auto ; Enable Link Time Optimization
+    -O3
+build_unflags = 
+    -std=gnu++11
+    -fno-lto
 build_src_flags = 
 	-Wformat=2
 	-Wformat-truncation