✨ Adds callback based event bus

app/src/lib/components/Visualization.svelte

@@ -262,9 +262,8 @@
         const rotatedXm = settings.xm * cosTotal - settings.zm * sinTotal
         const rotatedZm = settings.xm * sinTotal + settings.zm * cosTotal
 
-        const mpuHeadingRad = degToRad($mpu.heading)
+        const cosHead = Math.cos(headingYaw)
-        const cosHead = Math.cos(mpuHeadingRad)
+        const sinHead = Math.sin(headingYaw)
-        const sinHead = Math.sin(mpuHeadingRad)
         const rotatedCumX = body_state.cumulative_x * cosHead - body_state.cumulative_z * sinHead
         const rotatedCumZ = body_state.cumulative_x * sinHead + body_state.cumulative_z * cosHead
 

esp32/include/ap_service.h

@@ -1,8 +1,7 @@
 #pragma once
 
-#include <template/stateful_service.h>
+#include <esp_http_server.h>
-#include <template/stateful_proto_endpoint.h>
+#include <eventbus.hpp>
-#include <template/stateful_persistence.h>
 #include <settings/ap_settings.h>
 #include <utils/timing.h>
 #include <wifi/wifi_idf.h>
@@ -10,7 +9,9 @@
 #include <esp_timer.h>
 #include <string>
 
-class APService : public StatefulService<APSettings> {
+class WebServer;
+
+class APService {
   public:
     APService();
     ~APService();
@@ -23,10 +24,11 @@ class APService : public StatefulService<APSettings> {
     void statusProto(api_APStatus &proto);
     APNetworkStatus getAPNetworkStatus();
 
-    StatefulProtoEndpoint<APSettings, api_APSettings> protoEndpoint;
+    void registerRoutes(WebServer &server);
 
   private:
-    FSPersistencePB<APSettings> _persistence;
+    APSettings _settings {};
+    SubscriptionHandle _settingsHandle;
     DNSServer *_dnsServer;
 
     volatile unsigned long _lastManaged;

esp32/include/communication/comm_base.hpp

@@ -8,6 +8,7 @@
 #include <map>
 #include <type_traits>
 #include <communication/proto_helpers.h>
+#include <eventbus.hpp>
 
 class CommAdapterBase {
   public:
@@ -35,6 +36,11 @@ class CommAdapterBase {
         decoder_.on<T>(handler);
     }
 
+    template <typename T>
+    void forward() {
+        decoder_.on<T>([](const T& data, int) { EventBus::instance().publish(data); });
+    }
+
     template <typename T>
     void emit(const T& data, int clientId = -1) {
         constexpr pb_size_t tag = MessageTraits<T>::tag;
@@ -47,8 +53,7 @@ class CommAdapterBase {
         size_t out_size;
         pb_get_encoded_size(&out_size, socket_message_Message_fields, &msg_);
         uint8_t* buffer = pb_heap_enc_buf;
-        if (out_size > sizeof(pb_heap_enc_buf)) { // If the encoded size exceeds our buffer size, we needs to malloc a
+        if (out_size > sizeof(pb_heap_enc_buf)) {
-                                                  // buffer of a proper size
             buffer = (uint8_t*)malloc(out_size);
         }
 

esp32/include/communication/webserver.h

@@ -15,7 +15,7 @@
 #include <pb_encode.h>
 #include <pb_decode.h>
 #include <platform_shared/api.pb.h>
-#include <freertos/semphr.h>
+#include <eventbus.hpp>
 
 using HttpGetHandler = std::function<esp_err_t(httpd_req_t*)>;
 using HttpPostHandler = std::function<esp_err_t(httpd_req_t*, api_Request*)>;
@@ -23,15 +23,20 @@ using WsFrameHandler = std::function<esp_err_t(httpd_req_t*, httpd_ws_frame_t*)>
 using WsOpenHandler = std::function<void(httpd_req_t*)>;
 using WsCloseHandler = std::function<void(int)>;
 
-// Macro to register a proto endpoint that extracts a specific payload type
+#define PROTO_ROUTE(server_ref, uri, field_name, proto_type)               \
-// Usage: STAITC_PROTO_POST_ENDPOINT(server, "/api/files/delete", file_delete_request, FileSystem::handleDelete)
+    (server_ref)                                                           \
-// Handler signature: esp_err_t handleDelete(httpd_req_t* req, const api_FileDeleteRequest& payload)
+        .protoRoute<proto_type>(                                           \
-#define STAITC_PROTO_POST_ENDPOINT(server_ref, uri, payload_type, handler) \
+            uri,                                                           \
-    (server_ref).on(uri, HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) { \
+            [](const api_Request& req, proto_type& out) -> bool {          \
-        if (protoReq->which_payload != api_Request_##payload_type##_tag) { \
+                if (req.which_payload == api_Request_##field_name##_tag) { \
-            return WebServer::sendError(request, 400, "Invalid request payload"); \
+                    out = req.payload.field_name;                          \
+                    return true;                                           \
                 }                                                          \
-        return handler(request, protoReq->payload.payload_type); \
+                return false;                                              \
+            },                                                             \
+            [](api_Response& res, const proto_type& data) {                \
+                res.which_payload = api_Response_##field_name##_tag;       \
+                res.payload.field_name = data;                             \
             })
 
 struct HttpRoute {
@@ -54,6 +59,36 @@ class WebServer {
     void on(const char* uri, httpd_method_t method, HttpGetHandler handler);
     void on(const char* uri, httpd_method_t method, HttpPostHandler handler);
 
+    template <typename ProtoT>
+    void protoRoute(const char* uri, std::function<bool(const api_Request&, ProtoT&)> extractor,
+                    std::function<void(api_Response&, const ProtoT&)> assigner) {
+        on(uri, HTTP_GET, [assigner](httpd_req_t* req) {
+            auto* res = new api_Response();
+            *res = api_Response_init_zero;
+            res->status_code = 200;
+            ProtoT current = EventBus::instance().peek<ProtoT>();
+            assigner(*res, current);
+            esp_err_t ret = WebServer::send(req, 200, *res, api_Response_fields);
+            delete res;
+            return ret;
+        });
+        on(uri, HTTP_POST, [extractor, assigner](httpd_req_t* req, api_Request* protoReq) {
+            ProtoT msg = {};
+            if (!extractor(*protoReq, msg)) {
+                return sendError(req, 400, "Invalid request type");
+            }
+            EventBus::instance().publish(msg);
+            auto* res = new api_Response();
+            *res = api_Response_init_zero;
+            res->status_code = 200;
+            ProtoT current = EventBus::instance().peek<ProtoT>();
+            assigner(*res, current);
+            esp_err_t ret = WebServer::send(req, 200, *res, api_Response_fields);
+            delete res;
+            return ret;
+        });
+    }
+
     void onWsFrame(WsFrameHandler handler);
     void onWsOpen(WsOpenHandler handler);
     void onWsClose(WsCloseHandler handler);

esp32/include/event_storage_manager.hpp

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

esp32/include/event_types.h

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

esp32/include/eventbus.hpp

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

esp32/include/filesystem.h

@@ -9,6 +9,8 @@
 #include <cstdio>
 #include <platform_shared/api.pb.h>
 
+class WebServer;
+
 #define MOUNT_POINT "/littlefs"
 
 #define FS_CONFIG_DIRECTORY MOUNT_POINT "/config"
@@ -35,6 +37,8 @@ bool writeFile(const char *filename, const char *content);
 bool writeFile(const char *filename, const uint8_t *content, size_t size);
 bool mkdirRecursive(const char *path);
 
+void registerRoutes(WebServer &server);
+
 esp_err_t getFilesProto(httpd_req_t *request);
 esp_err_t getFiles(httpd_req_t *request);
 esp_err_t getConfigFile(httpd_req_t *request);

esp32/include/filesystem_ws.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <platform_shared/message.pb.h>
+#include <eventbus.hpp>
 #include <filesystem.h>
 #include <map>
 #include <string>
@@ -45,6 +46,7 @@ class FileSystemHandler {
   public:
     FileSystemHandler();
 
+    void begin();
     void setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData, SendCompleteCallback sendComplete,
                           SendUploadCompleteCallback sendUploadComplete);
 
@@ -74,6 +76,8 @@ class FileSystemHandler {
     bool deleteRecursive(const std::string& path);
     bool sendNextDownloadChunk(uint32_t transferId);
     void finalizeUpload(uint32_t transferId, bool success, const std::string& error = "");
+
+    SubscriptionHandle uploadHandle_;
 };
 
 extern FileSystemHandler fsHandler;

esp32/include/mdns_service.h

@@ -2,13 +2,13 @@
 
 #include <esp_http_server.h>
 #include <mdns.h>
-#include <template/stateful_service.h>
+#include <eventbus.hpp>
-#include <template/stateful_proto_endpoint.h>
-#include <template/stateful_persistence.h>
 #include <settings/mdns_settings.h>
 #include <utils/timing.h>
 
-class MDNSService : public StatefulService<MDNSSettings> {
+class WebServer;
+
+class MDNSService {
   public:
     MDNSService();
     ~MDNSService();
@@ -18,10 +18,11 @@ class MDNSService : public StatefulService<MDNSSettings> {
     esp_err_t getStatus(httpd_req_t *request);
     esp_err_t queryServices(httpd_req_t *request, api_Request *protoReq);
 
-    StatefulProtoEndpoint<MDNSSettings, api_MDNSSettings> protoEndpoint;
+    void registerRoutes(WebServer &server);
 
   private:
-    FSPersistencePB<MDNSSettings> _persistence;
+    MDNSSettings _settings {};
+    SubscriptionHandle _settingsHandle;
     bool _started {false};
 
     void reconfigureMDNS();

esp32/include/motion.h

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

esp32/include/peripherals/camera_service.h

@@ -3,12 +3,12 @@
 #include <esp_http_server.h>
 
 #include <features.h>
-#include <template/stateful_service.h>
+#include <eventbus.hpp>
-#include <template/stateful_proto_endpoint.h>
-#include <template/stateful_persistence.h>
 
 #include <settings/camera_settings.h>
 
+class WebServer;
+
 namespace Camera {
 
 #define USE_DVP_CAMERA (USE_CAMERA && !CONFIG_IDF_TARGET_ESP32P4)
@@ -25,11 +25,7 @@ void safe_sensor_return();
 
 #define PART_BOUNDARY "frame"
 
-class CameraService
+class CameraService {
-#if USE_DVP_CAMERA
-    : public StatefulService<CameraSettings>
-#endif
-{
   public:
     CameraService();
 
@@ -38,11 +34,12 @@ class CameraService
     esp_err_t cameraStill(httpd_req_t *request);
     esp_err_t cameraStream(httpd_req_t *request);
 
-#if USE_DVP_CAMERA
+    void registerRoutes(WebServer &server);
-    StatefulProtoEndpoint<CameraSettings, api_CameraSettings> protoEndpoint;
 
+#if USE_DVP_CAMERA
   private:
-    FSPersistencePB<CameraSettings> _persistence;
+    CameraSettings _settings {};
+    SubscriptionHandle _settingsHandle;
     void updateCamera();
 #endif
 };

esp32/include/peripherals/i2c_bus.h

@@ -31,11 +31,7 @@ class I2CBus {
         bus_cfg.scl_io_num = scl;
         bus_cfg.clk_source = I2C_CLK_SRC_DEFAULT;
         bus_cfg.glitch_ignore_cnt = 7;
-#if CONFIG_IDF_TARGET_ESP32P4
-        bus_cfg.flags.enable_internal_pullup = false;
-#else
         bus_cfg.flags.enable_internal_pullup = true;
-#endif
 
         esp_err_t err = i2c_new_master_bus(&bus_cfg, &_bus);
         if (err != ESP_OK) {
@@ -68,7 +64,7 @@ class I2CBus {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
         esp_err_t err = ensureDevice(addr);
         if (err != ESP_OK) return err;
-        return i2c_master_transmit(_dev, data, len, pdMS_TO_TICKS(200));
+        return i2c_master_transmit(_dev, data, len, pdMS_TO_TICKS(100));
     }
 
     esp_err_t writeReg(uint8_t addr, uint8_t reg, const uint8_t* data, size_t len) {
@@ -81,19 +77,19 @@ class I2CBus {
         if (len > 0 && data != nullptr) {
             memcpy(buf + 1, data, len);
         }
-        return i2c_master_transmit(_dev, buf, len + 1, pdMS_TO_TICKS(200));
+        return i2c_master_transmit(_dev, buf, len + 1, pdMS_TO_TICKS(100));
     }
 
     esp_err_t readReg(uint8_t addr, uint8_t reg, uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
         esp_err_t err = ensureDevice(addr);
         if (err != ESP_OK) return err;
-        return i2c_master_transmit_receive(_dev, &reg, 1, data, len, pdMS_TO_TICKS(200));
+        return i2c_master_transmit_receive(_dev, &reg, 1, data, len, pdMS_TO_TICKS(100));
     }
 
     bool probe(uint8_t addr) {
         if (!_initialized) return false;
-        return i2c_master_probe(_bus, addr, pdMS_TO_TICKS(200)) == ESP_OK;
+        return i2c_master_probe(_bus, addr, pdMS_TO_TICKS(50)) == ESP_OK;
     }
 
     std::vector<uint8_t> scan(uint8_t lower = 1, uint8_t upper = 127) {

esp32/include/peripherals/peripherals.h

@@ -1,8 +1,6 @@
 #pragma once
 
-#include <template/stateful_persistence.h>
+#include <eventbus.hpp>
-#include <template/stateful_service.h>
-#include <template/stateful_proto_endpoint.h>
 #include <utils/math_utils.h>
 #include <utils/timing.h>
 #include <filesystem.h>
@@ -21,12 +19,9 @@
 #include <peripherals/barometer.h>
 #include <peripherals/gesture.h>
 
-/*
- * Ultrasonic Sensor Settings
- */
 #define MAX_DISTANCE 200
 
-class Peripherals : public StatefulService<PeripheralsConfiguration> {
+class Peripherals {
   public:
     Peripherals();
 
@@ -42,21 +37,14 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
     void getIMUProto(socket_message_IMUData &data);
     void getSettingsProto(socket_message_PeripheralSettingsData &data);
 
-    /* IMU FUNCTIONS */
     bool readImu();
-
     bool readMag();
-
     bool readBMP();
-
     bool readGesture();
-
     void readSonar();
 
     float angleX();
-
     float angleY();
-
     float angleZ();
 
     gesture_t takeGesture();
@@ -66,14 +54,12 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     bool calibrateIMU();
 
-    StatefulProtoEndpoint<PeripheralsConfiguration, api_PeripheralSettings> protoEndpoint;
-
   private:
-    FSPersistencePB<PeripheralsConfiguration> _persistence;
+    PeripheralsConfiguration _settings {};
+    SubscriptionHandle _settingsHandle;
 
     SemaphoreHandle_t _accessMutex;
     inline void beginTransaction() { xSemaphoreTakeRecursive(_accessMutex, portMAX_DELAY); }
-
     inline void endTransaction() { xSemaphoreGiveRecursive(_accessMutex); }
 
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055)

esp32/include/peripherals/servo_controller.h

@@ -2,11 +2,10 @@
 #define ServoController_h
 
 #include <peripherals/drivers/pca9685.h>
-#include <template/stateful_persistence.h>
+#include <eventbus.hpp>
-#include <template/stateful_proto_endpoint.h>
-#include <template/stateful_service.h>
 #include <utils/math_utils.h>
 #include <platform_shared/api.pb.h>
+#include <platform_shared/message.pb.h>
 
 #ifndef FACTORY_SERVO_PWM_FREQUENCY
 #define FACTORY_SERVO_PWM_FREQUENCY 50
@@ -34,25 +33,18 @@ inline ServoSettings ServoSettings_defaults() {
     return settings;
 }
 
-inline void ServoSettings_read(const ServoSettings &settings, ServoSettings &proto) { proto = settings; }
+class ServoController {
-
-inline StateUpdateResult ServoSettings_update(const ServoSettings &proto, ServoSettings &settings) {
-    settings = proto;
-    return StateUpdateResult::CHANGED;
-}
-
-class ServoController : public StatefulService<ServoSettings> {
   public:
-    ServoController()
-        : protoEndpoint(ServoSettings_read, ServoSettings_update, this,
-                        API_REQUEST_EXTRACTOR(servo_settings, ServoSettings),
-                        API_RESPONSE_ASSIGNER(servo_settings, ServoSettings)),
-          _persistence(ServoSettings_read, ServoSettings_update, this, SERVO_SETTINGS_FILE, api_ServoSettings_fields,
-                       api_ServoSettings_size, ServoSettings_defaults()) {}
-
     void begin() {
-        _persistence.readFromFS();
+        _settings = EventBus::instance().peek<ServoSettings>();
         initializePCA();
+
+        _settingsHandle =
+            EventBus::instance().subscribe<ServoSettings>([this](const ServoSettings& s) { _settings = s; });
+        servoPwmHandle_ = EventBus::instance().subscribe<socket_message_ServoPWMData>(
+            [this](const socket_message_ServoPWMData& data) { setServoPWM(data.servo_id, data.servo_pwm); });
+        servoStateHandle_ = EventBus::instance().subscribe<socket_message_ServoStateData>(
+            [this](const socket_message_ServoStateData& data) { data.active ? activate() : deactivate(); });
     }
 
     void pcaWrite(int index, int value) {
@@ -103,7 +95,7 @@ class ServoController : public StatefulService<ServoSettings> {
         uint16_t pwms[12];
         for (int i = 0; i < 12; i++) {
             angles[i] = lerp(angles[i], target_angles[i], 0.1);
-            auto &servo = state().servos[i];
+            auto& servo = _settings.servos[i];
             float angle = servo.direction * angles[i] + servo.center_angle;
             uint16_t pwm = angle * servo.conversion + servo.center_pwm;
             pwms[i] = pwm = std::clamp<uint16_t>(pwm, 125, 600);
@@ -115,8 +107,6 @@ class ServoController : public StatefulService<ServoSettings> {
         if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
     }
 
-    StatefulProtoEndpoint<ServoSettings, ServoSettings> protoEndpoint;
-
   private:
     void initializePCA() {
         _pca.begin();
@@ -124,8 +114,8 @@ class ServoController : public StatefulService<ServoSettings> {
         _pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
         _pca.sleep();
     }
-    FSPersistencePB<ServoSettings> _persistence;
 
+    ServoSettings _settings {};
     PCA9685Driver _pca;
 
     SERVO_CONTROL_STATE control_state = SERVO_CONTROL_STATE::DEACTIVATED;
@@ -133,6 +123,10 @@ class ServoController : public StatefulService<ServoSettings> {
     bool is_active {false};
     float angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
     float target_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
+
+    SubscriptionHandle _settingsHandle;
+    SubscriptionHandle servoPwmHandle_;
+    SubscriptionHandle servoStateHandle_;
 };
 
 #endif

esp32/include/proto_event_storage.hpp

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

esp32/include/settings/ap_settings.h

@@ -2,7 +2,6 @@
 
 #include <wifi/wifi_idf.h>
 #include <wifi/dns_server.h>
-#include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
 
@@ -75,10 +74,3 @@ inline APSettings APSettings_defaults() {
     settings.subnet_mask = parseIPv4(FACTORY_AP_SUBNET_MASK);
     return settings;
 }
-
-inline void APSettings_read(const APSettings &settings, APSettings &proto) { proto = settings; }
-
-inline StateUpdateResult APSettings_update(const APSettings &proto, APSettings &settings) {
-    settings = proto;
-    return StateUpdateResult::CHANGED;
-}

esp32/include/settings/camera_settings.h

@@ -50,14 +50,4 @@ inline CameraSettings CameraSettings_defaults() {
     return settings;
 }
 
-// Proto read/update are identity functions since type is the same
-inline void CameraSettings_read(const CameraSettings& settings, CameraSettings& proto) {
-    proto = settings;
-}
-
-inline StateUpdateResult CameraSettings_update(const CameraSettings& proto, CameraSettings& settings) {
-    settings = proto;
-    return StateUpdateResult::CHANGED;
-}
-
 } // namespace Camera

esp32/include/settings/mdns_settings.h

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

esp32/include/settings/ntp_settings.h

@@ -1,4 +1,3 @@
-#include <template/state_result.h>
 #include <ArduinoJson.h>
 #include <string>
 
@@ -32,11 +31,10 @@ class NTPSettings {
         root["tz_format"] = settings.tzFormat.c_str();
     }
 
-    static StateUpdateResult update(JsonVariant &root, NTPSettings &settings) {
+    static void update(JsonVariant &root, NTPSettings &settings) {
         settings.enabled = root["enabled"] | FACTORY_NTP_ENABLED;
         settings.server = root["server"] | FACTORY_NTP_SERVER;
         settings.tzLabel = root["tz_label"] | FACTORY_NTP_TIME_ZONE_LABEL;
         settings.tzFormat = root["tz_format"] | FACTORY_NTP_TIME_ZONE_FORMAT;
-        return StateUpdateResult::CHANGED;
     }
 };

esp32/include/settings/peripherals_settings.h

@@ -1,15 +1,12 @@
 #pragma once
 
-#include <template/state_result.h>
 #include <sdkconfig.h>
 #include <platform_shared/api.pb.h>
 #include <global.h>
 
-// Use proto types directly
 using PinConfig = api_PinConfig;
 using PeripheralsConfiguration = api_PeripheralSettings;
 
-// Default factory settings
 inline PeripheralsConfiguration PeripheralsConfiguration_defaults() {
     PeripheralsConfiguration settings = api_PeripheralSettings_init_zero;
     settings.sda = SDA_PIN;
@@ -18,14 +15,3 @@ inline PeripheralsConfiguration PeripheralsConfiguration_defaults() {
     settings.pins_count = 0;
     return settings;
 }
-
-// Proto read/update are identity functions since type is the same
-inline void PeripheralsConfiguration_read(const PeripheralsConfiguration& settings, PeripheralsConfiguration& proto) {
-    proto = settings;
-}
-
-inline StateUpdateResult PeripheralsConfiguration_update(const PeripheralsConfiguration& proto,
-                                                         PeripheralsConfiguration& settings) {
-    settings = proto;
-    return StateUpdateResult::CHANGED;
-}

esp32/include/settings/wifi_settings.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <wifi/wifi_idf.h>
-#include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
 
@@ -49,10 +48,3 @@ inline WiFiSettings WiFiSettings_defaults() {
     }
     return settings;
 }
-
-inline void WiFiSettings_read(const WiFiSettings &settings, WiFiSettings &proto) { proto = settings; }
-
-inline StateUpdateResult WiFiSettings_update(const WiFiSettings &proto, WiFiSettings &settings) {
-    settings = proto;
-    return StateUpdateResult::CHANGED;
-}

esp32/include/system_service.h

@@ -12,11 +12,15 @@
 
 #include "platform_shared/message.pb.h"
 
+class WebServer;
+
 namespace system_service {
 esp_err_t handleReset(httpd_req_t *request);
 esp_err_t handleRestart(httpd_req_t *request);
 esp_err_t handleSleep(httpd_req_t *request);
 
+void registerRoutes(WebServer &server);
+
 void reset();
 void restart();
 void sleep();

esp32/include/template/state_result.h

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

esp32/include/template/stateful_endpoint.h

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

esp32/include/template/stateful_persistence.h

@@ -1,141 +0,0 @@
-#pragma once
-
-#include <template/stateful_service.h>
-#include <template/state_result.h>
-#include <filesystem.h>
-#include <pb_encode.h>
-#include <pb_decode.h>
-#include <cstdio>
-#include <sys/stat.h>
-#include <esp_log.h>
-
-static const char *TAG_PERSISTENCE = "FSPersistencePB";
-
-template <class T>
-class FSPersistencePB {
-  public:
-    using ProtoStateReader = std::function<void(const T &, T &)>;
-    using ProtoStateUpdater = std::function<StateUpdateResult(const T &, T &)>;
-
-    FSPersistencePB(ProtoStateReader stateReader, ProtoStateUpdater stateUpdater, StatefulService<T> *statefulService,
-                    const char *filePath, const pb_msgdesc_t *msgDescriptor, size_t maxSize, const T &defaultState)
-        : _stateReader(stateReader),
-          _stateUpdater(stateUpdater),
-          _statefulService(statefulService),
-          _filePath(filePath),
-          _msgDescriptor(msgDescriptor),
-          _maxSize(maxSize),
-          _defaultState(defaultState),
-          _updateHandlerId(0) {
-        enableUpdateHandler();
-    }
-
-    void readFromFS() {
-        FILE *file = fopen(_filePath, "rb");
-
-        if (file) {
-            fseek(file, 0, SEEK_END);
-            size_t fileSize = ftell(file);
-            fseek(file, 0, SEEK_SET);
-
-            if (fileSize > 0 && fileSize <= _maxSize) {
-                uint8_t *buffer = new uint8_t[fileSize];
-                size_t bytesRead = fread(buffer, 1, fileSize, file);
-                fclose(file);
-
-                if (bytesRead == fileSize) {
-                    T *protoMsg = new T();
-                    *protoMsg = {};
-                    pb_istream_t stream = pb_istream_from_buffer(buffer, bytesRead);
-
-                    if (pb_decode(&stream, _msgDescriptor, protoMsg)) {
-                        _statefulService->updateWithoutPropagation(
-                            [this, protoMsg](T &state) { return _stateUpdater(*protoMsg, state); });
-                        delete protoMsg;
-                        delete[] buffer;
-                        return;
-                    }
-                    delete protoMsg;
-                }
-                delete[] buffer;
-            } else {
-                fclose(file);
-            }
-        }
-
-        applyDefaults();
-        writeToFS();
-    }
-
-    bool writeToFS() {
-        uint8_t *buffer = new uint8_t[_maxSize];
-        pb_ostream_t stream = pb_ostream_from_buffer(buffer, _maxSize);
-
-        T *protoMsg = new T();
-        *protoMsg = {};
-        _statefulService->read([this, protoMsg](const T &state) { _stateReader(state, *protoMsg); });
-
-        bool encodeSuccess = pb_encode(&stream, _msgDescriptor, protoMsg);
-        delete protoMsg;
-
-        if (!encodeSuccess) {
-            delete[] buffer;
-            return false;
-        }
-
-        mkdirs();
-
-        FILE *file = fopen(_filePath, "wb");
-        if (!file) {
-            ESP_LOGE(TAG_PERSISTENCE, "Failed to open file for writing: %s", _filePath);
-            delete[] buffer;
-            return false;
-        }
-
-        size_t written = fwrite(buffer, 1, stream.bytes_written, file);
-        fclose(file);
-        delete[] buffer;
-
-        return written == stream.bytes_written;
-    }
-
-    void disableUpdateHandler() {
-        if (_updateHandlerId) {
-            _statefulService->removeUpdateHandler(_updateHandlerId);
-            _updateHandlerId = 0;
-        }
-    }
-
-    void enableUpdateHandler() {
-        if (!_updateHandlerId) {
-            _updateHandlerId = _statefulService->addUpdateHandler([&](const std::string &originId) { writeToFS(); });
-        }
-    }
-
-  private:
-    ProtoStateReader _stateReader;
-    ProtoStateUpdater _stateUpdater;
-    StatefulService<T> *_statefulService;
-    const char *_filePath;
-    const pb_msgdesc_t *_msgDescriptor;
-    size_t _maxSize;
-    T _defaultState;
-    HandlerId _updateHandlerId;
-
-    void mkdirs() {
-        std::string path(_filePath);
-        size_t index = 0;
-        while ((index = path.find('/', index + 1)) != std::string::npos) {
-            std::string segment = path.substr(0, index);
-            struct stat st;
-            if (stat(segment.c_str(), &st) != 0) {
-                FileSystem::mkdirRecursive(segment.c_str());
-            }
-        }
-    }
-
-  protected:
-    void applyDefaults() {
-        _statefulService->updateWithoutPropagation([this](T &state) { return _stateUpdater(_defaultState, state); });
-    }
-};

esp32/include/template/stateful_proto_endpoint.h

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

esp32/include/template/stateful_service.h

@@ -1,135 +0,0 @@
-#pragma once
-
-#include <list>
-#include <functional>
-#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
-#include <string>
-
-#include <template/state_result.h>
-
-using HandlerId = size_t;
-using StateUpdateCallback = std::function<void(const std::string &originId)>;
-using StateHookCallback = std::function<void(const std::string &originId, StateUpdateResult &result)>;
-
-class HandlerBase {
-  protected:
-    static inline HandlerId nextId_ = 1;
-    HandlerId id_;
-    bool allowRemove_;
-
-    HandlerBase(bool allowRemove) : id_(nextId_++), allowRemove_(allowRemove) {}
-
-  public:
-    HandlerId getId() const { return id_; }
-    bool isRemovable() const { return allowRemove_; }
-};
-
-class UpdateHandler : public HandlerBase {
-    StateUpdateCallback callback_;
-
-  public:
-    UpdateHandler(StateUpdateCallback callback, bool allowRemove)
-        : HandlerBase(allowRemove), callback_(std::move(callback)) {}
-
-    void invoke(const std::string &originId) const { callback_(originId); }
-};
-
-class HookHandler : public HandlerBase {
-    StateHookCallback callback_;
-
-  public:
-    HookHandler(StateHookCallback callback, bool allowRemove)
-        : HandlerBase(allowRemove), callback_(std::move(callback)) {}
-
-    void invoke(const std::string &originId, StateUpdateResult &result) const { callback_(originId, result); }
-};
-
-template <class T>
-class StatefulService {
-  public:
-    template <typename... Args>
-    StatefulService(Args &&...args) : state_(std::forward<Args>(args)...), mutex_(xSemaphoreCreateRecursiveMutex()) {}
-
-    HandlerId addUpdateHandler(StateUpdateCallback callback, bool allowRemove = true) {
-        if (!callback) return 0;
-
-        updateHandlers_.emplace_back(std::move(callback), allowRemove);
-        return updateHandlers_.back().getId();
-    }
-
-    void removeUpdateHandler(HandlerId id) {
-        updateHandlers_.remove_if(
-            [id](const UpdateHandler &handler) { return handler.isRemovable() && handler.getId() == id; });
-    }
-
-    HandlerId addHookHandler(StateHookCallback callback, bool allowRemove = true) {
-        if (!callback) return 0;
-
-        hookHandlers_.emplace_back(std::move(callback), allowRemove);
-        return hookHandlers_.back().getId();
-    }
-
-    void removeHookHandler(HandlerId id) {
-        hookHandlers_.remove_if(
-            [id](const HookHandler &handler) { return handler.isRemovable() && handler.getId() == id; });
-    }
-
-    StateUpdateResult update(std::function<StateUpdateResult(T &)> stateUpdater, const std::string &originId) {
-        lock();
-        StateUpdateResult result = stateUpdater(state_);
-        unlock();
-        notifyStateChange(originId, result);
-        return result;
-    }
-
-    StateUpdateResult updateWithoutPropagation(std::function<StateUpdateResult(T &)> stateUpdater) {
-        lock();
-        StateUpdateResult result = stateUpdater(state_);
-        unlock();
-        return result;
-    }
-
-    void read(std::function<void(T &)> stateReader) {
-        lock();
-        stateReader(state_);
-        unlock();
-    }
-
-    void read(std::function<void(const T &)> stateReader) const {
-        const_cast<StatefulService *>(this)->lock();
-        stateReader(state_);
-        const_cast<StatefulService *>(this)->unlock();
-    }
-
-    void callUpdateHandlers(const std::string &originId) {
-        for (const UpdateHandler &updateHandler : updateHandlers_) {
-            updateHandler.invoke(originId);
-        }
-    }
-
-    void callHookHandlers(const std::string &originId, StateUpdateResult &result) {
-        for (const HookHandler &hookHandler : hookHandlers_) {
-            hookHandler.invoke(originId, result);
-        }
-    }
-
-    T &state() { return state_; }
-
-  private:
-    T state_;
-
-    inline void lock() { xSemaphoreTakeRecursive(mutex_, portMAX_DELAY); }
-    inline void unlock() { xSemaphoreGiveRecursive(mutex_); }
-
-    void notifyStateChange(const std::string &originId, StateUpdateResult &result) {
-        callHookHandlers(originId, result);
-        if (result == StateUpdateResult::CHANGED) {
-            callUpdateHandlers(originId);
-        }
-    }
-
-    SemaphoreHandle_t mutex_;
-    std::list<UpdateHandler> updateHandlers_;
-    std::list<HookHandler> hookHandlers_;
-};

esp32/include/wifi_service.h

@@ -7,16 +7,16 @@
 
 #include <filesystem.h>
 #include <utils/timing.h>
-#include <template/stateful_service.h>
+#include <eventbus.hpp>
-#include <template/stateful_persistence.h>
-#include <template/stateful_proto_endpoint.h>
 #include <settings/wifi_settings.h>
 
+class WebServer;
+
 #define WIFI_EVENT_STA_DISCONNECTED_IDF WIFI_EVENT_STA_DISCONNECTED
 #define WIFI_EVENT_STA_STOP_IDF WIFI_EVENT_STA_STOP
 #define IP_EVENT_STA_GOT_IP_IDF 1000
 
-class WiFiService : public StatefulService<WiFiSettings> {
+class WiFiService {
   public:
     WiFiService();
     ~WiFiService();
@@ -27,20 +27,21 @@ class WiFiService : public StatefulService<WiFiSettings> {
     void setupMDNS(const char *hostname);
     void selectNetwork(uint32_t index);
 
-    const char *getHostname() { return state().hostname; }
+    const char *getHostname() { return _settings.hostname; }
 
     static esp_err_t handleScan(httpd_req_t *request);
     static esp_err_t getNetworks(httpd_req_t *request);
     static esp_err_t getNetworkStatus(httpd_req_t *request);
 
-    StatefulProtoEndpoint<WiFiSettings, api_WifiSettings> protoEndpoint;
+    void registerRoutes(WebServer &server);
 
   private:
     void onStationModeDisconnected(int32_t event, void *event_data);
     void onStationModeStop(int32_t event, void *event_data);
     static void onStationModeGotIP(int32_t event, void *event_data);
 
-    FSPersistencePB<WiFiSettings> _persistence;
+    WiFiSettings _settings {};
+    SubscriptionHandle _settingsHandle;
 
     void reconfigureWiFiConnection();
     void manageSTA();

esp32/src/ap_service.cpp

@@ -3,17 +3,7 @@
 
 static const char *TAG = "APService";
 
-APService::APService()
+APService::APService() : _dnsServer(nullptr), _lastManaged(0), _reconfigureAp(false), _recoveryMode(false) {}
-    : protoEndpoint(APSettings_read, APSettings_update, this, API_REQUEST_EXTRACTOR(ap_settings, api_APSettings),
-                    API_RESPONSE_ASSIGNER(ap_settings, api_APSettings)),
-      _persistence(APSettings_read, APSettings_update, this, AP_SETTINGS_FILE, api_APSettings_fields,
-                   api_APSettings_size, APSettings_defaults()),
-      _dnsServer(nullptr),
-      _lastManaged(0),
-      _reconfigureAp(false),
-      _recoveryMode(false) {
-    addUpdateHandler([&](const std::string &originId) { reconfigureAP(); }, false);
-}
 
 APService::~APService() {
     if (_dnsServer) {
@@ -22,7 +12,17 @@ APService::~APService() {
     }
 }
 
-void APService::begin() { _persistence.readFromFS(); }
+void APService::begin() {
+    _settings = EventBus::instance().peek<APSettings>();
+    _settingsHandle = EventBus::instance().subscribe<APSettings>([this](const APSettings &s) {
+        _settings = s;
+        reconfigureAP();
+    });
+}
+
+void APService::registerRoutes(WebServer &s) {
+    s.on("/api/ap/status", HTTP_GET, [this](httpd_req_t *request) { return getStatusProto(request); });
+}
 
 esp_err_t APService::getStatusProto(httpd_req_t *request) {
     api_Response res = api_Response_init_zero;
@@ -44,7 +44,7 @@ void APService::statusProto(api_APStatus &proto) {
 APNetworkStatus APService::getAPNetworkStatus() {
     wifi_mode_t currentWiFiMode = WiFi.getMode();
     bool apActive = currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA;
-    if (apActive && state().provision_mode != AP_MODE_ALWAYS && WiFi.status() == WL_CONNECTED) {
+    if (apActive && _settings.provision_mode != AP_MODE_ALWAYS && WiFi.status() == WL_CONNECTED) {
         return LINGERING;
     }
     return apActive ? ACTIVE : INACTIVE;
@@ -70,8 +70,8 @@ void APService::loop() {
 
 void APService::manageAP() {
     wifi_mode_t currentWiFiMode = WiFi.getMode();
-    if (state().provision_mode == AP_MODE_ALWAYS ||
+    if (_settings.provision_mode == AP_MODE_ALWAYS ||
-        (state().provision_mode == AP_MODE_DISCONNECTED && WiFi.status() != WL_CONNECTED) || _recoveryMode) {
+        (_settings.provision_mode == AP_MODE_DISCONNECTED && WiFi.status() != WL_CONNECTED) || _recoveryMode) {
         if (_reconfigureAp || currentWiFiMode == WIFI_MODE_NULL || currentWiFiMode == WIFI_MODE_STA) {
             startAP();
         }
@@ -83,9 +83,9 @@ void APService::manageAP() {
 }
 
 void APService::startAP() {
-    ESP_LOGI(TAG, "Starting software access point: %s", state().ssid);
+    ESP_LOGI(TAG, "Starting software access point: %s", _settings.ssid);
-    WiFi.softAPConfig(IPAddress(state().local_ip), IPAddress(state().gateway_ip), IPAddress(state().subnet_mask));
+    WiFi.softAPConfig(IPAddress(_settings.local_ip), IPAddress(_settings.gateway_ip), IPAddress(_settings.subnet_mask));
-    WiFi.softAP(state().ssid, state().password, state().channel, state().ssid_hidden, state().max_clients);
+    WiFi.softAP(_settings.ssid, _settings.password, _settings.channel, _settings.ssid_hidden, _settings.max_clients);
 #if CONFIG_IDF_TARGET_ESP32C3
     WiFi.setTxPower(8);
 #endif

esp32/src/filesystem.cpp

@@ -11,6 +11,29 @@ static const char *TAG = "FileSystem";
 
 namespace FileSystem {
 
+void registerRoutes(WebServer &s) {
+    s.on("/api/config/*", HTTP_GET, [](httpd_req_t *request) { return getConfigFile(request); });
+    s.on("/api/files", HTTP_GET, [](httpd_req_t *request) { return getFilesProto(request); });
+    s.on("/api/files/delete", HTTP_POST, [](httpd_req_t *request, api_Request *protoReq) {
+        if (protoReq->which_payload != api_Request_file_delete_request_tag) {
+            return WebServer::sendError(request, 400, "Invalid request payload");
+        }
+        return handleDelete(request, protoReq->payload.file_delete_request);
+    });
+    s.on("/api/files/edit", HTTP_POST, [](httpd_req_t *request, api_Request *protoReq) {
+        if (protoReq->which_payload != api_Request_file_edit_request_tag) {
+            return WebServer::sendError(request, 400, "Invalid request payload");
+        }
+        return handleEdit(request, protoReq->payload.file_edit_request);
+    });
+    s.on("/api/files/mkdir", HTTP_POST, [](httpd_req_t *request, api_Request *protoReq) {
+        if (protoReq->which_payload != api_Request_file_mkdir_request_tag) {
+            return WebServer::sendError(request, 400, "Invalid request payload");
+        }
+        return mkdir(request, protoReq->payload.file_mkdir_request);
+    });
+}
+
 static std::vector<api_FileEntry *> allocatedEntries;
 
 static void freeAllocatedEntries() {

esp32/src/filesystem_ws.cpp

@@ -16,6 +16,11 @@ FileSystemHandler fsHandler;
 
 FileSystemHandler::FileSystemHandler() : transferIdCounter_(0) {}
 
+void FileSystemHandler::begin() {
+    uploadHandle_ = EventBus::instance().subscribe<socket_message_FSUploadData>(
+        [this](const socket_message_FSUploadData& data) { handleUploadData(data); });
+}
+
 void FileSystemHandler::setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData,
                                          SendCompleteCallback sendComplete,
                                          SendUploadCompleteCallback sendUploadComplete) {

esp32/src/main.cpp

@@ -20,6 +20,10 @@
 #include <ap_service.h>
 #include <mdns_service.h>
 #include <system_service.h>
+#include <eventbus.hpp>
+#include <event_storage_manager.hpp>
+#include <event_types.h>
+#include <settings/camera_settings.h>
 
 #if CONFIG_IDF_TARGET_ESP32P4
 #include <esp_hosted.h>
@@ -44,75 +48,36 @@ MDNSService mdnsService;
 
 WiFiService wifiService;
 APService apService;
+EventStorageManager storageManager;
+
+static SubscriptionHandle modeHandle;
 
 void setupServer() {
     server.config(50 + WWW_ASSETS_COUNT, 16384);
     server.listen(80);
 
-    server.on("/api/system/reset", HTTP_POST,
+    PROTO_ROUTE(server, "/api/servo/config", servo_settings, ServoSettings);
-              [&](httpd_req_t *request, api_Request *protoReq) { return system_service::handleReset(request); });
+    PROTO_ROUTE(server, "/api/wifi/sta/settings", wifi_settings, WiFiSettings);
-    server.on("/api/system/restart", HTTP_POST,
+    PROTO_ROUTE(server, "/api/ap/settings", ap_settings, APSettings);
-              [&](httpd_req_t *request, api_Request *protoReq) { return system_service::handleRestart(request); });
+    PROTO_ROUTE(server, "/api/peripherals/settings", peripheral_settings, PeripheralsConfiguration);
-    server.on("/api/system/sleep", HTTP_POST,
-              [&](httpd_req_t *request, api_Request *protoReq) { return system_service::handleSleep(request); });
-#if USE_CAMERA
-    server.on("/api/camera/still", HTTP_GET, [&](httpd_req_t *request) { return cameraService.cameraStill(request); });
-    server.on("/api/camera/stream", HTTP_GET,
-              [&](httpd_req_t *request) { return cameraService.cameraStream(request); });
-#if USE_DVP_CAMERA
-    server.on("/api/camera/settings", HTTP_GET,
-              [&](httpd_req_t *request) { return cameraService.protoEndpoint.getState(request); });
-    server.on("/api/camera/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
-        return cameraService.protoEndpoint.handleStateUpdate(request, protoReq);
-    });
-#endif
-#endif
-    server.on("/api/servo/config", HTTP_GET,
-              [&](httpd_req_t *request) { return servoController.protoEndpoint.getState(request); });
-    server.on("/api/servo/config", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
-        return servoController.protoEndpoint.handleStateUpdate(request, protoReq);
-    });
-
-    server.on("/api/wifi/sta/settings", HTTP_GET,
-              [&](httpd_req_t *request) { return wifiService.protoEndpoint.getState(request); });
-    server.on("/api/wifi/sta/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
-        return wifiService.protoEndpoint.handleStateUpdate(request, protoReq);
-    });
-    server.on("/api/wifi/scan", HTTP_GET, [&](httpd_req_t *request) { return wifiService.handleScan(request); });
-    server.on("/api/wifi/networks", HTTP_GET, [&](httpd_req_t *request) { return wifiService.getNetworks(request); });
-    server.on("/api/wifi/sta/status", HTTP_GET,
-              [&](httpd_req_t *request) { return wifiService.getNetworkStatus(request); });
-
-    server.on("/api/ap/status", HTTP_GET, [&](httpd_req_t *request) { return apService.getStatusProto(request); });
-    server.on("/api/ap/settings", HTTP_GET,
-              [&](httpd_req_t *request) { return apService.protoEndpoint.getState(request); });
-    server.on("/api/ap/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
-        return apService.protoEndpoint.handleStateUpdate(request, protoReq);
-    });
-
-    server.on("/api/peripherals/settings", HTTP_GET,
-              [&](httpd_req_t *request) { return peripherals.protoEndpoint.getState(request); });
-    server.on("/api/peripherals/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
-        return peripherals.protoEndpoint.handleStateUpdate(request, protoReq);
-    });
-
 #if FT_ENABLED(USE_MDNS)
-    server.on("/api/mdns/settings", HTTP_GET,
+    PROTO_ROUTE(server, "/api/mdns/settings", mdns_settings, MDNSSettings);
-              [&](httpd_req_t *request) { return mdnsService.protoEndpoint.getState(request); });
+#endif
-    server.on("/api/mdns/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+#if FT_ENABLED(USE_CAMERA) && USE_DVP_CAMERA
-        return mdnsService.protoEndpoint.handleStateUpdate(request, protoReq);
+    PROTO_ROUTE(server, "/api/camera/settings", camera_settings, Camera::CameraSettings);
-    });
-    server.on("/api/mdns/status", HTTP_GET, [&](httpd_req_t *request) { return mdnsService.getStatus(request); });
-    server.on("/api/mdns/query", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
-        return mdnsService.queryServices(request, protoReq);
-    });
 #endif
 
-    server.on("/api/config/*", HTTP_GET, [](httpd_req_t *request) { return FileSystem::getConfigFile(request); });
+    system_service::registerRoutes(server);
-    server.on("/api/files", HTTP_GET, [&](httpd_req_t *request) { return FileSystem::getFilesProto(request); });
+    wifiService.registerRoutes(server);
-    STAITC_PROTO_POST_ENDPOINT(server, "/api/files/delete", file_delete_request, FileSystem::handleDelete);
+    apService.registerRoutes(server);
-    STAITC_PROTO_POST_ENDPOINT(server, "/api/files/edit", file_edit_request, FileSystem::handleEdit);
+#if FT_ENABLED(USE_MDNS)
-    STAITC_PROTO_POST_ENDPOINT(server, "/api/files/mkdir", file_mkdir_request, FileSystem::mkdir);
+    mdnsService.registerRoutes(server);
+#endif
+#if FT_ENABLED(USE_CAMERA)
+    cameraService.registerRoutes(server);
+#endif
+    FileSystem::registerRoutes(server);
+
     wsSocket.begin();
 #if EMBED_WEBAPP
     mountStaticAssets(server);
@@ -136,31 +101,21 @@ void setupEventSocket() {
         [](const socket_message_FSDownloadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); },
         [](const socket_message_FSUploadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); });
 
-    wsSocket.on<socket_message_ControllerData>(
+    wsSocket.forward<socket_message_ControllerData>();
-        [&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
+    wsSocket.forward<socket_message_ModeData>();
+    wsSocket.forward<socket_message_WalkGaitData>();
+    wsSocket.forward<socket_message_AnglesData>();
+    wsSocket.forward<socket_message_ServoPWMData>();
+    wsSocket.forward<socket_message_ServoStateData>();
+    wsSocket.forward<socket_message_FSUploadData>();
 
-    wsSocket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
+    modeHandle = EventBus::instance().subscribe<socket_message_ModeData>([&](const socket_message_ModeData &data) {
         servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
         motionService.handleMode(data);
         motionService.isActive() ? servoController.activate() : servoController.deactivate();
     });
 
-    wsSocket.on<socket_message_WalkGaitData>(
+    FileSystemWS::fsHandler.begin();
-        [&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
-
-    wsSocket.on<socket_message_AnglesData>(
-        [&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
-
-    wsSocket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
-        servoController.setServoPWM(data.servo_id, data.servo_pwm);
-    });
-
-    wsSocket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
-        data.active ? servoController.activate() : servoController.deactivate();
-    });
-
-    wsSocket.on<socket_message_FSUploadData>(
-        [&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
 
     using CorrelationHandler =
         std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &, int)>;
@@ -353,6 +308,7 @@ extern "C" void app_main(void) {
     ESP_ERROR_CHECK(ret);
 
     FileSystem::init();
+    storageManager.initialize();
 
     ESP_LOGI("main", "Booting robot");
 
@@ -362,5 +318,7 @@ extern "C" void app_main(void) {
 
     xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 8192, nullptr, 5, nullptr, 1);
 
+    EventBus::instance().publish(SystemReadyEvent {});
+
     ESP_LOGI("main", "Finished booting");
 }

esp32/src/mdns_service.cpp

@@ -4,14 +4,7 @@
 
 static const char *TAG = "MDNSService";
 
-MDNSService::MDNSService()
+MDNSService::MDNSService() {}
-    : protoEndpoint(MDNSSettings_read, MDNSSettings_update, this,
-                    API_REQUEST_EXTRACTOR(mdns_settings, api_MDNSSettings),
-                    API_RESPONSE_ASSIGNER(mdns_settings, api_MDNSSettings)),
-      _persistence(MDNSSettings_read, MDNSSettings_update, this, MDNS_SETTINGS_FILE, api_MDNSSettings_fields,
-                   api_MDNSSettings_size, MDNSSettings_defaults()) {
-    addUpdateHandler([&](const std::string &originId) { reconfigureMDNS(); }, false);
-}
 
 MDNSService::~MDNSService() {
     if (_started) {
@@ -19,8 +12,18 @@ MDNSService::~MDNSService() {
     }
 }
 
+void MDNSService::registerRoutes(WebServer &s) {
+    s.on("/api/mdns/status", HTTP_GET, [this](httpd_req_t *request) { return getStatus(request); });
+    s.on("/api/mdns/query", HTTP_POST,
+         [this](httpd_req_t *request, api_Request *protoReq) { return queryServices(request, protoReq); });
+}
+
 void MDNSService::begin() {
-    _persistence.readFromFS();
+    _settings = EventBus::instance().peek<MDNSSettings>();
+    _settingsHandle = EventBus::instance().subscribe<MDNSSettings>([this](const MDNSSettings &s) {
+        _settings = s;
+        reconfigureMDNS();
+    });
     startMDNS();
 }
 
@@ -32,7 +35,7 @@ void MDNSService::reconfigureMDNS() {
 }
 
 void MDNSService::startMDNS() {
-    ESP_LOGV(TAG, "Starting MDNS with hostname: %s", state().hostname);
+    ESP_LOGV(TAG, "Starting MDNS with hostname: %s", _settings.hostname);
 
     esp_err_t err = mdns_init();
     if (err != ESP_OK) {
@@ -41,7 +44,7 @@ void MDNSService::startMDNS() {
         return;
     }
 
-    err = mdns_hostname_set(state().hostname);
+    err = mdns_hostname_set(_settings.hostname);
     if (err != ESP_OK) {
         ESP_LOGE(TAG, "Failed to set MDNS hostname: %s", esp_err_to_name(err));
         mdns_free();
@@ -49,7 +52,7 @@ void MDNSService::startMDNS() {
         return;
     }
 
-    err = mdns_instance_name_set(state().instance);
+    err = mdns_instance_name_set(_settings.instance);
     if (err != ESP_OK) {
         ESP_LOGW(TAG, "Failed to set MDNS instance name: %s", esp_err_to_name(err));
     }
@@ -57,7 +60,7 @@ void MDNSService::startMDNS() {
     _started = true;
     addServices();
 
-    ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", state().hostname);
+    ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", _settings.hostname);
 }
 
 void MDNSService::stopMDNS() {
@@ -67,8 +70,8 @@ void MDNSService::stopMDNS() {
 }
 
 void MDNSService::addServices() {
-    for (size_t i = 0; i < state().services_count; i++) {
+    for (size_t i = 0; i < _settings.services_count; i++) {
-        const auto &service = state().services[i];
+        const auto &service = _settings.services[i];
         esp_err_t err = mdns_service_add(nullptr, service.service, service.protocol, service.port, nullptr, 0);
         if (err != ESP_OK) {
             ESP_LOGW(TAG, "Failed to add service %s: %s", service.service, esp_err_to_name(err));
@@ -81,10 +84,10 @@ void MDNSService::addServices() {
         }
     }
 
-    for (size_t i = 0; i < state().global_txt_records_count; i++) {
+    for (size_t i = 0; i < _settings.global_txt_records_count; i++) {
-        const auto &txt = state().global_txt_records[i];
+        const auto &txt = _settings.global_txt_records[i];
-        for (size_t j = 0; j < state().services_count; j++) {
+        for (size_t j = 0; j < _settings.services_count; j++) {
-            const auto &service = state().services[j];
+            const auto &service = _settings.services[j];
             mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
         }
     }
@@ -96,17 +99,17 @@ esp_err_t MDNSService::getStatus(httpd_req_t *request) {
 
     MDNSStatus &status = response.payload.mdns_status;
     status.started = _started;
-    strncpy(status.hostname, state().hostname, sizeof(status.hostname) - 1);
+    strncpy(status.hostname, _settings.hostname, sizeof(status.hostname) - 1);
-    strncpy(status.instance, state().instance, sizeof(status.instance) - 1);
+    strncpy(status.instance, _settings.instance, sizeof(status.instance) - 1);
 
-    status.services_count = state().services_count;
+    status.services_count = _settings.services_count;
-    for (size_t i = 0; i < state().services_count; i++) {
+    for (size_t i = 0; i < _settings.services_count; i++) {
-        status.services[i] = state().services[i];
+        status.services[i] = _settings.services[i];
     }
 
-    status.global_txt_records_count = state().global_txt_records_count;
+    status.global_txt_records_count = _settings.global_txt_records_count;
-    for (size_t i = 0; i < state().global_txt_records_count; i++) {
+    for (size_t i = 0; i < _settings.global_txt_records_count; i++) {
-        status.global_txt_records[i] = state().global_txt_records[i];
+        status.global_txt_records[i] = _settings.global_txt_records[i];
     }
 
     return WebServer::send(request, 200, response, api_Response_fields);

esp32/src/motion.cpp

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

esp32/src/peripherals/camera_service.cpp

@@ -35,17 +35,14 @@ sensor_t *safe_sensor_get() {
 
 void safe_sensor_return() { xSemaphoreGiveRecursive(cameraMutex); }
 
-CameraService::CameraService()
+CameraService::CameraService() {}
-    : protoEndpoint(CameraSettings_read, CameraSettings_update, this,
-                    API_REQUEST_EXTRACTOR(camera_settings, api_CameraSettings),
-                    API_RESPONSE_ASSIGNER(camera_settings, api_CameraSettings)),
-      _persistence(CameraSettings_read, CameraSettings_update, this, CAMERA_SETTINGS_FILE, api_CameraSettings_fields,
-                   api_CameraSettings_size, CameraSettings_defaults()) {
-    addUpdateHandler([&](const std::string &originId) { updateCamera(); }, false);
-}
 
 esp_err_t CameraService::begin() {
-    _persistence.readFromFS();
+    _settings = EventBus::instance().peek<CameraSettings>();
+    _settingsHandle = EventBus::instance().subscribe<CameraSettings>([this](const CameraSettings &s) {
+        _settings = s;
+        updateCamera();
+    });
     camera_config_t camera_config;
     camera_config.ledc_channel = LEDC_CHANNEL_0;
     camera_config.ledc_timer = LEDC_TIMER_0;
@@ -155,30 +152,30 @@ void CameraService::updateCamera() {
         safe_sensor_return();
         return;
     }
-    s->set_pixformat(s, static_cast<pixformat_t>(state().pixformat));
+    s->set_pixformat(s, static_cast<pixformat_t>(_settings.pixformat));
-    s->set_framesize(s, static_cast<framesize_t>(state().framesize));
+    s->set_framesize(s, static_cast<framesize_t>(_settings.framesize));
-    s->set_brightness(s, state().brightness);
+    s->set_brightness(s, _settings.brightness);
-    s->set_contrast(s, state().contrast);
+    s->set_contrast(s, _settings.contrast);
-    s->set_saturation(s, state().saturation);
+    s->set_saturation(s, _settings.saturation);
-    s->set_sharpness(s, state().sharpness);
+    s->set_sharpness(s, _settings.sharpness);
-    s->set_denoise(s, state().denoise);
+    s->set_denoise(s, _settings.denoise);
-    s->set_gainceiling(s, static_cast<gainceiling_t>(state().gainceiling));
+    s->set_gainceiling(s, static_cast<gainceiling_t>(_settings.gainceiling));
-    s->set_quality(s, state().quality);
+    s->set_quality(s, _settings.quality);
-    s->set_colorbar(s, state().colorbar);
+    s->set_colorbar(s, _settings.colorbar);
-    s->set_awb_gain(s, state().awb_gain);
+    s->set_awb_gain(s, _settings.awb_gain);
-    s->set_wb_mode(s, state().wb_mode);
+    s->set_wb_mode(s, _settings.wb_mode);
-    s->set_aec2(s, state().aec2);
+    s->set_aec2(s, _settings.aec2);
-    s->set_ae_level(s, state().ae_level);
+    s->set_ae_level(s, _settings.ae_level);
-    s->set_aec_value(s, state().aec_value);
+    s->set_aec_value(s, _settings.aec_value);
-    s->set_agc_gain(s, state().agc_gain);
+    s->set_agc_gain(s, _settings.agc_gain);
-    s->set_bpc(s, state().bpc);
+    s->set_bpc(s, _settings.bpc);
-    s->set_wpc(s, state().wpc);
+    s->set_wpc(s, _settings.wpc);
-    s->set_special_effect(s, state().special_effect);
+    s->set_special_effect(s, _settings.special_effect);
-    s->set_raw_gma(s, state().raw_gma);
+    s->set_raw_gma(s, _settings.raw_gma);
-    s->set_lenc(s, state().lenc);
+    s->set_lenc(s, _settings.lenc);
-    s->set_hmirror(s, state().hmirror);
+    s->set_hmirror(s, _settings.hmirror);
-    s->set_vflip(s, state().vflip);
+    s->set_vflip(s, _settings.vflip);
-    s->set_dcw(s, state().dcw);
+    s->set_dcw(s, _settings.dcw);
     safe_sensor_return();
 }
 
@@ -628,6 +625,11 @@ esp_err_t CameraService::cameraStream(httpd_req_t *request) {
     return ESP_OK;
 }
 
+void CameraService::registerRoutes(WebServer &s) {
+    s.on("/api/camera/still", HTTP_GET, [this](httpd_req_t *request) { return cameraStill(request); });
+    s.on("/api/camera/stream", HTTP_GET, [this](httpd_req_t *request) { return cameraStream(request); });
+}
+
 #else
 
 CameraService::CameraService() {}
@@ -639,6 +641,11 @@ esp_err_t CameraService::cameraStream(httpd_req_t *request) {
     return WebServer::sendError(request, 501, "Camera not supported on this platform");
 }
 
+void CameraService::registerRoutes(WebServer &s) {
+    s.on("/api/camera/still", HTTP_GET, [this](httpd_req_t *request) { return cameraStill(request); });
+    s.on("/api/camera/stream", HTTP_GET, [this](httpd_req_t *request) { return cameraStream(request); });
+}
+
 #endif
 
 } // namespace Camera

esp32/src/peripherals/peripherals.cpp

@@ -1,18 +1,14 @@
 #include <peripherals/peripherals.h>
 
-Peripherals::Peripherals()
+Peripherals::Peripherals() { _accessMutex = xSemaphoreCreateMutex(); }
-    : protoEndpoint(PeripheralsConfiguration_read, PeripheralsConfiguration_update, this,
-                    API_REQUEST_EXTRACTOR(peripheral_settings, api_PeripheralSettings),
-                    API_RESPONSE_ASSIGNER(peripheral_settings, api_PeripheralSettings)),
-      _persistence(PeripheralsConfiguration_read, PeripheralsConfiguration_update, this,
-                   PERIPHERAL_SETTINGS_FILE, api_PeripheralSettings_fields, api_PeripheralSettings_size,
-                   PeripheralsConfiguration_defaults()) {
-    _accessMutex = xSemaphoreCreateMutex();
-    addUpdateHandler([&](const std::string &originId) { updatePins(); }, false);
-}
 
 void Peripherals::begin() {
-    _persistence.readFromFS();
+    _settings = EventBus::instance().peek<PeripheralsConfiguration>();
+    _settingsHandle =
+        EventBus::instance().subscribe<PeripheralsConfiguration>([this](const PeripheralsConfiguration &s) {
+            _settings = s;
+            updatePins();
+        });
 
     updatePins();
 
@@ -47,9 +43,9 @@ void Peripherals::updatePins() {
         I2CBus::instance().end();
     }
 
-    if (state().sda != -1 && state().scl != -1) {
+    if (_settings.sda != -1 && _settings.scl != -1) {
-        esp_err_t err = I2CBus::instance().begin(static_cast<gpio_num_t>(state().sda),
+        esp_err_t err = I2CBus::instance().begin(static_cast<gpio_num_t>(_settings.sda),
-                                                 static_cast<gpio_num_t>(state().scl), state().frequency);
+                                                 static_cast<gpio_num_t>(_settings.scl), _settings.frequency);
         i2c_active = (err == ESP_OK);
     }
 }
@@ -92,13 +88,12 @@ void Peripherals::getIMUProto(socket_message_IMUData &data) {
 }
 
 void Peripherals::getSettingsProto(socket_message_PeripheralSettingsData &data) {
-    data.sda = state().sda;
+    data.sda = _settings.sda;
-    data.scl = state().scl;
+    data.scl = _settings.scl;
-    data.frequency = state().frequency;
+    data.frequency = _settings.frequency;
     data.pins_count = 0;
 }
 
-/* IMU FUNCTIONS */
 bool Peripherals::readImu() {
     bool updated = false;
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055)

esp32/src/system_service.cpp

@@ -59,6 +59,15 @@ esp_err_t handleSleep(httpd_req_t *request) {
     return WebServer::sendOk(request);
 }
 
+void registerRoutes(WebServer &s) {
+    s.on("/api/system/reset", HTTP_POST,
+         [](httpd_req_t *request, api_Request *protoReq) { return handleReset(request); });
+    s.on("/api/system/restart", HTTP_POST,
+         [](httpd_req_t *request, api_Request *protoReq) { return handleRestart(request); });
+    s.on("/api/system/sleep", HTTP_POST,
+         [](httpd_req_t *request, api_Request *protoReq) { return handleSleep(request); });
+}
+
 void reset() {
     ESP_LOGI(TAG, "Resetting device");
     DIR *dir = opendir(FS_CONFIG_DIRECTORY);

esp32/src/wifi_service.cpp

@@ -3,17 +3,14 @@
 
 static const char *TAG = "WiFiService";
 
-WiFiService::WiFiService()
+void WiFiService::registerRoutes(WebServer &s) {
-    : protoEndpoint(WiFiSettings_read, WiFiSettings_update, this,
+    s.on("/api/wifi/scan", HTTP_GET, [](httpd_req_t *request) { return handleScan(request); });
-                    API_REQUEST_EXTRACTOR(wifi_settings, api_WifiSettings),
+    s.on("/api/wifi/networks", HTTP_GET, [](httpd_req_t *request) { return getNetworks(request); });
-                    API_RESPONSE_ASSIGNER(wifi_settings, api_WifiSettings)),
+    s.on("/api/wifi/sta/status", HTTP_GET, [](httpd_req_t *request) { return getNetworkStatus(request); });
-      _persistence(WiFiSettings_read, WiFiSettings_update, this, WIFI_SETTINGS_FILE, api_WifiSettings_fields,
-                   api_WifiSettings_size, WiFiSettings_defaults()),
-      _lastConnectionAttempt(0),
-      _stopping(false) {
-    addUpdateHandler([&](const std::string &originId) { reconfigureWiFiConnection(); }, false);
 }
 
+WiFiService::WiFiService() : _lastConnectionAttempt(0), _stopping(false) {}
+
 WiFiService::~WiFiService() {}
 
 void WiFiService::begin() {
@@ -25,15 +22,19 @@ void WiFiService::begin() {
     WiFi.onEvent([this](int32_t event, void *data) { this->onStationModeStop(event, data); }, WIFI_EVENT_STA_STOP);
     WiFi.onEvent(onStationModeGotIP, IP_EVENT_STA_GOT_IP_IDF);
 
-    _persistence.readFromFS();
+    _settings = EventBus::instance().peek<WiFiSettings>();
+    _settingsHandle = EventBus::instance().subscribe<WiFiSettings>([this](const WiFiSettings &s) {
+        _settings = s;
+        reconfigureWiFiConnection();
+    });
     _lastConnectionAttempt = 0;
 
-    if (state().wifi_networks_count >= 1) {
+    if (_settings.wifi_networks_count >= 1) {
         WiFi.mode(WIFI_MODE_STA);
         vTaskDelay(100 / portTICK_PERIOD_MS);
-        uint32_t idx = state().selected_network;
+        uint32_t idx = _settings.selected_network;
-        if (idx >= state().wifi_networks_count) idx = 0;
+        if (idx >= _settings.wifi_networks_count) idx = 0;
-        configureNetwork(state().wifi_networks[idx]);
+        configureNetwork(_settings.wifi_networks[idx]);
     }
 }
 
@@ -43,13 +44,9 @@ void WiFiService::reconfigureWiFiConnection() {
 }
 
 void WiFiService::selectNetwork(uint32_t index) {
-    if (index >= state().wifi_networks_count) return;
+    if (index >= _settings.wifi_networks_count) return;
-    updateWithoutPropagation([&](WiFiSettings &settings) {
+    _settings.selected_network = index;
-        settings.selected_network = index;
+    EventBus::instance().publish(_settings);
-        return StateUpdateResult::CHANGED;
-    });
-    _persistence.writeToFS();
-    reconfigureWiFiConnection();
 }
 
 void WiFiService::loop() { EXECUTE_EVERY_N_MS(reconnectDelay, manageSTA()); }
@@ -99,7 +96,7 @@ esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
 
 void WiFiService::setupMDNS(const char *hostname) {
     mdns_init();
-    mdns_hostname_set(state().hostname);
+    mdns_hostname_set(_settings.hostname);
     mdns_instance_name_set(hostname);
     mdns_service_add(nullptr, "_http", "_tcp", 80, nullptr, 0);
     mdns_service_add(nullptr, "_ws", "_tcp", 80, nullptr, 0);
@@ -138,7 +135,7 @@ esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
 }
 
 void WiFiService::manageSTA() {
-    if (WiFi.isConnected() || state().wifi_networks_count == 0) return;
+    if (WiFi.isConnected() || _settings.wifi_networks_count == 0) return;
     wifi_mode_t mode = WiFi.getMode();
     if (mode == WIFI_MODE_NULL || mode == WIFI_MODE_AP) return;
 
@@ -153,12 +150,12 @@ void WiFiService::manageSTA() {
     uint32_t now = esp_timer_get_time() / 1000;
     if (now - startTime < 3000) return;
 
-    if (!attempted && state().wifi_networks_count > 0) {
+    if (!attempted && _settings.wifi_networks_count > 0) {
         attempted = true;
-        uint32_t idx = state().selected_network;
+        uint32_t idx = _settings.selected_network;
-        if (idx >= state().wifi_networks_count) idx = 0;
+        if (idx >= _settings.wifi_networks_count) idx = 0;
-        ESP_LOGI(TAG, "Connecting to: %s", state().wifi_networks[idx].ssid);
+        ESP_LOGI(TAG, "Connecting to: %s", _settings.wifi_networks[idx].ssid);
-        configureNetwork(state().wifi_networks[idx]);
+        configureNetwork(_settings.wifi_networks[idx]);
     }
 }
 
@@ -169,7 +166,7 @@ void WiFiService::configureNetwork(WiFiNetwork &network) {
     } else {
         WiFi.config(IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0));
     }
-    WiFi.setHostname(state().hostname);
+    WiFi.setHostname(_settings.hostname);
     WiFi.begin(network.ssid, network.password);
 
 #if CONFIG_IDF_TARGET_ESP32C3

readme.md

@@ -143,8 +143,8 @@ A PyBullet-based physics simulation is available for algorithm development and r
 
 ```bash
 cd simulation
-uv sync
+pip install -r requirements.txt
-uv run play.py
+python play.py
 ```
 
 Features:
@@ -245,7 +245,7 @@ Complete build instructions are available in the documentation:
 **Build and flash:**
 
 ```bash
-git clone --recurse-submodules https://github.com/runeharlyk/SpotMicroESP32-Leika
+git clone https://github.com/runeharlyk/SpotMicroESP32-Leika
 cd SpotMicroESP32-Leika
 
 cd app
@@ -264,8 +264,8 @@ To experiment with the simulation environments without hardware:
 
 ```bash
 cd simulation
-uv sync
+pip install -r requirements.txt
-uv run play.py
+python play.py
 ```
 
 For development workflows and contribution guidelines, see [docs/6_developing.md](docs/6_developing.md) and [docs/7_contributing.md](docs/7_contributing.md).

simulation/.python-version

@@ -1 +0,0 @@
-3.13

simulation/pyproject.toml

@@ -1,21 +0,0 @@
-[project]
-name = "simulation-leika"
-version = "0.1.0"
-description = "Add your description here"
-readme = "README.md"
-requires-python = ">=3.13"
-dependencies = [
-    "gymnasium>=1.2.3",
-    "matplotlib>=3.10.9",
-    "msgpack>=1.1.2",
-    "numpy>=2.4.4",
-    "onnx>=1.21.0",
-    "onnxruntime>=1.26.0",
-    "pybullet>=3.2.7",
-    "stable-baselines3[extra]>=2.0.0",
-    "tensorboard>=2.20.0",
-    "tensorflow>=2.21.0",
-    "torch>=2.11.0",
-    "tqdm>=4.67.3",
-    "websockets>=16.0",
-]

simulation/requirements.txt

@@ -0,0 +1,14 @@
+torch
+onnx
+onnxruntime
+tensorflow
+numpy
+matplotlib
+pybullet
+websockets
+msgpack
+asyncio
+gymnasium
+stable-baselines3[extra]>=2.0.0
+tensorboard
+tqdm

simulation/test.py

@@ -0,0 +1,24 @@
+from src.envs.quadruped_env import QuadrupedEnv
+from training.model import SimpleNN
+
+import resources as resources
+
+
+def main():
+    env = QuadrupedEnv(resources.getDataPath() + "/spot.urdf")
+    env.reset()
+
+    input_size = env.robot.get_observation().shape[0]
+    output_size = env.robot.get_observation().shape[0]
+    agent = SimpleNN(input_size, output_size)
+
+    done = False
+    observation = []
+
+    while not done:
+        action = agent.select_action(observation)
+        observation, reward, done = env.step(action)
+
+
+if __name__ == "__main__":
+    main()