🪴 Adds webserial lidar support

.github/workflows/embedded-build.yml

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

.github/workflows/frontend-tests.yml

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

.gitignore

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

.vscode/extensions.json

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

.vscode/settings.json

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

app/.env.embedded

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

app/.env.mock_embedded

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

app/.env.mock_web

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

app/.env.web

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

app/.eslintrc.cjs

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

app/.eslintrc.json

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

app/.gitignore

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

app/.npmrc

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

app/.prettierignore

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

app/.prettierrc

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

app/.vscode/extensions.json

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

app/README.md

@@ -1,3 +1,38 @@
-# Controller App
+# create-svelte
 
-This is the controller for my spot micro
+Everything you need to build a Svelte project, powered by [`create-svelte`](https://github.com/sveltejs/kit/tree/main/packages/create-svelte).
+
+## Creating a project
+
+If you're seeing this, you've probably already done this step. Congrats!
+
+```bash
+# create a new project in the current directory
+npm create svelte@latest
+
+# create a new project in my-app
+npm create svelte@latest my-app
+```
+
+## Developing
+
+Once you've created a project and installed dependencies with `npm install` (or `pnpm install` or `yarn`), start a development server:
+
+```bash
+npm run dev
+
+# or start the server and open the app in a new browser tab
+npm run dev -- --open
+```
+
+## Building
+
+To create a production version of your app:
+
+```bash
+npm run build
+```
+
+You can preview the production build with `npm run preview`.
+
+> To deploy your app, you may need to install an [adapter](https://kit.svelte.dev/docs/adapters) for your target environment.

app/index.html

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

app/package.json

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

app/playwright.config.ts

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

app/postcss.config.js

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

app/src/App.svelte

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

app/src/app.css

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

app/src/app.d.ts

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

app/src/app.html

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

app/src/components/Topbar.svelte

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

app/src/components/Views/Model.svelte

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

app/src/components/input/Button.svelte

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

app/src/components/input/Range.svelte

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

app/src/components/settings/Calibration.svelte

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

app/src/components/settings/Configuration.svelte

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

app/src/components/settings/Info.svelte

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

app/src/components/settings/Log.svelte

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

app/src/index.css

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

app/src/index.test.ts

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

app/src/lib/DaisyUiHelper.ts

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

app/src/lib/api.ts

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

app/src/lib/components/BatteryIndicator.svelte

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

app/src/lib/components/Collapsible.svelte

@@ -0,0 +1,43 @@
+<script lang="ts">
+	import { slide } from 'svelte/transition';
+	import { cubicOut } from 'svelte/easing';
+	import Down from '~icons/tabler/chevron-down';
+	import { createEventDispatcher } from 'svelte';
+
+	const dispatch = createEventDispatcher();
+
+	function openCollapsible() {
+		open = !open;
+		if (open) {
+			dispatch('opened');
+		} else {
+			dispatch('closed');
+		}
+	}
+
+	export let open = false;
+</script>
+
+<div class="{$$props.class || ''} relative grid w-full max-w-2xl self-center overflow-hidden">
+	<div class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium">
+		<span class="inline-flex items-baseline">
+			<slot name="icon" />
+			<slot name="title" />
+		</span>
+		<button class="btn btn-circle btn-ghost btn-sm" on:click={() => openCollapsible()}>
+			<Down
+				class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open
+					? 'rotate-180'
+					: ''}"
+			/>
+		</button>
+	</div>
+	{#if open}
+		<div
+			class="flex flex-col gap-2 p-4 pt-0"
+			transition:slide|local={{ duration: 300, easing: cubicOut }}
+		>
+			<slot />
+		</div>
+	{/if}
+</div>

app/src/lib/components/ConfirmDialog.svelte

@@ -0,0 +1,52 @@
+<script lang="ts">
+	import { closeModal } from 'svelte-modals';
+	import { focusTrap } from 'svelte-focus-trap';
+	import { fly } from 'svelte/transition';
+	import Cancel from '~icons/tabler/x';
+	import Check from '~icons/tabler/check';
+
+	// provided by <Modals />
+	export let isOpen: boolean;
+
+	export let title: string;
+	export let message: string;
+	export let onConfirm: any;
+	export let labels = {
+		cancel: { label: 'Cancel', icon: Cancel },
+		confirm: { label: 'OK', icon: Check }
+	};
+</script>
+
+{#if isOpen}
+	<div
+		role="dialog"
+		class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
+		transition:fly={{ y: 50 }}
+		on:introstart
+		on:outroend
+        use:focusTrap
+	>
+		<div
+			class="rounded-box bg-base-100 pointer-events-auto flex min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
+		>
+			<h2 class="text-base-content text-start text-2xl font-bold">{title}</h2>
+			<div class="divider my-2" />
+			<p class="text-base-content mb-1 text-start">{message}</p>
+			<div class="divider my-2" />
+			<div class="flex justify-end gap-2">
+				<button class="btn btn-primary inline-flex items-center" on:click={closeModal}
+					><svelte:component this={labels.cancel.icon} class="mr-2 h-5 w-5" /><span
+						>{labels?.cancel.label}</span
+					></button
+				>
+				<button
+					class="btn btn-warning text-warning-content inline-flex items-center"
+					on:click={onConfirm}
+					><svelte:component this={labels?.confirm.icon} class="mr-2 h-5 w-5" /><span
+						>{labels?.confirm.label}</span
+					></button
+				>
+			</div>
+		</div>
+	</div>
+{/if}

app/src/lib/components/GithubUpdateDialog.svelte

@@ -0,0 +1,92 @@
+<script lang="ts">
+	import { closeAllModals, onBeforeClose } from 'svelte-modals';
+	import { focusTrap } from 'svelte-focus-trap';
+	import { fly } from 'svelte/transition';
+	import { telemetry } from '$lib/stores/telemetry';
+	import Cancel from '~icons/tabler/x';
+
+	// provided by <Modals />
+	export let isOpen: boolean;
+
+	let updating = true;
+
+	let progress = 0;
+	$: if ($telemetry.download_ota.status == 'progress') {
+		progress = $telemetry.download_ota.progress;
+	}
+
+	$: if ($telemetry.download_ota.status == 'error') {
+		updating = false;
+	}
+
+	let message = 'Preparing ...';
+	let timerId: number;
+
+	$: if ($telemetry.download_ota.status == 'progress') {
+		message = 'Downloading ...';
+	} else if ($telemetry.download_ota.status == 'error') {
+		message = $telemetry.download_ota.error;
+	} else if ($telemetry.download_ota.status == 'finished') {
+		message = 'Restarting ...';
+		progress = 0;
+		// Reload page after 5 sec
+		timerId = setTimeout(() => {
+			closeAllModals();
+			location.reload();
+		}, 5000);
+	}
+
+	onBeforeClose(() => {
+		if (updating) {
+			// prevents modal from closing
+			return false;
+		} else {
+			$telemetry.download_ota.status = 'idle';
+			$telemetry.download_ota.error = '';
+			$telemetry.download_ota.progress = 0;
+			return true;
+		}
+	});
+</script>
+
+{#if isOpen}
+	<div
+		role="dialog"
+		class="pointer-events-none fixed inset-0 z-50 flex items-center justify-center"
+		transition:fly={{ y: 50 }}
+		on:introstart
+		on:outroend
+		use:focusTrap
+	>
+		<div
+			class="bg-base-100 rounded-box pointer-events-auto flex max-h-full min-w-fit max-w-md flex-col justify-between p-4 shadow-lg"
+		>
+			<h2 class="text-base-content text-start text-2xl font-bold">Updating Firmware</h2>
+			<div class="divider my-2" />
+			<div class="overflow-y-auto">
+				<div class="bg-base-100 flex flex-col items-center justify-center p-6">
+					{#if $telemetry.download_ota.status == 'progress'}
+						<progress class="progress progress-primary w-56" value={progress} max="100" />
+					{:else}
+						<progress class="progress progress-primary w-56" />
+					{/if}
+					<p class="mt-8 text-2xl">{message}</p>
+				</div>
+			</div>
+			<div class="divider my-2" />
+			<div class="flex flex-wrap justify-end gap-2">
+				<div class="flex-grow" />
+				<button
+					class="btn btn-warning text-warning-content inline-flex flex-none items-center"
+					disabled={updating}
+					on:click={() => {
+						closeAllModals();
+						location.reload();
+					}}
+				>
+					<Cancel class="mr-2 h-5 w-5" /><span>Close</span></button
+				>
+			</div>
+		</div>
+	</div>
+{/if}

app/src/lib/components/InfoDialog.svelte

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

app/src/lib/components/InputPassword.svelte

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

app/src/lib/components/Lidar.svelte

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

app/src/lib/components/RSSIIndicator.svelte

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

app/src/lib/components/SettingsCard.svelte

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

app/src/lib/components/Spinner.svelte

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

app/src/lib/components/Stream.svelte

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

app/src/lib/components/Toast.svelte

@@ -0,0 +1,37 @@
+<script>
+	import { flip } from 'svelte/animate';
+	import { fly } from 'svelte/transition';
+	import { notifications } from '$lib/components/toasts/notifications';
+	import error from '~icons/tabler/circle-x';
+	import success from '~icons/tabler/circle-check';
+	import warning from '~icons/tabler/alert-triangle';
+	import info from '~icons/tabler/info-circle';
+
+	export let theme = {
+		error: 'alert-error',
+		success: 'alert-success',
+		warning: 'alert-warning',
+		info: 'alert-info'
+	};
+
+	export let icon = {
+		error: error,
+		success: success,
+		warning: warning,
+		info: info
+	};
+</script>
+
+<div class="toast toast-end mr-4">
+	{#each $notifications as notification (notification.id)}
+		<div
+			animate:flip={{ duration: 400 }}
+			class="alert animate-none {theme[notification.type]}"
+			in:fly={{ y: 100, duration: 400 }}
+			out:fly={{ x: 100, duration: 400 }}
+		>
+			<svelte:component this={icon[notification.type]} class="h-6 w-6 flex-shrink-0" />
+			<span>{notification.message}</span>
+		</div>
+	{/each}
+</div>

app/src/lib/components/TopBar.svelte

@@ -0,0 +1,17 @@
+<script lang="ts">
+    import MdiHamburgerMenu from '~icons/mdi/hamburger-menu';
+</script>
+
+<div class="topbar absolute left-0 top-0 w-full z-20 flex justify-between bg-zinc-800">
+	<div class="flex gap-2 p-2">
+        <a href="/">
+            <svelte:component this={MdiHamburgerMenu} class="h-8 w-8"/>
+        </a>
+    </div>
+</div>
+
+<style>
+	.topbar {
+		height: 50px;
+	}
+</style>

app/src/lib/components/UpdateIndicator.svelte

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

app/src/lib/components/Visualization.svelte

@@ -0,0 +1,308 @@
+<script lang="ts">
+	import { onDestroy, onMount } from 'svelte';
+	import { BufferGeometry, Line, LineBasicMaterial, Mesh, MeshBasicMaterial, Object3D, SphereGeometry, Vector3, type NormalBufferAttributes, type Object3DEventMap } from 'three';
+	import uzip from 'uzip';
+	import { ModesEnum, kinematicData, mode, model, outControllerData, servoAnglesOut, servoAngles, mpu, jointNames } from '$lib/stores';
+	import { footColor, isEmbeddedApp, throttler, toeWorldPositions } from '$lib/utilities';
+	import { fileService } from '$lib/services';
+	import SceneBuilder from '$lib/sceneBuilder';
+	import { lerp, degToRad } from 'three/src/math/MathUtils';
+    import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
+	import Kinematic, { type body_state_t } from '$lib/kinematic';
+    import {EightPhaseWalkState, FourPhaseWalkState, IdleState, RestState, StandState} from '$lib/gait'
+	import { radToDeg } from 'three/src/math/MathUtils.js';
+	import type { URDFRobot } from 'urdf-loader';
+	import { get } from 'svelte/store';
+
+    export let sky = true
+    export let orbit = false
+    export let panel = true
+    export let debug = false
+    export let ground = true
+
+	let sceneManager = new SceneBuilder();
+	let canvas: HTMLCanvasElement
+
+	let currentModelAngles: number[] = new Array(12).fill(0);
+	let modelTargetAngles: number[] = new Array(12).fill(0)
+    let gui_panel: GUI
+    let Throttler = new throttler()
+
+    let feet_trace = new Array(4).fill([]);
+    let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
+    let target: Object3D<Object3DEventMap>;
+
+    let target_position = {x: 0, z: 0, yaw: 0}
+
+    let kinematic = new Kinematic()
+
+    let planners = {
+        [ModesEnum.Idle]: new IdleState(),
+        [ModesEnum.Rest]: new RestState(),
+        [ModesEnum.Stand]: new StandState(),
+        [ModesEnum.Crawl]: new EightPhaseWalkState(),
+        [ModesEnum.Walk]: new FourPhaseWalkState()
+    }
+    let lastTick = performance.now()
+
+    const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
+
+    let body_state = {
+        omega: 0,
+        phi: 0,
+        psi: 0,
+        xm: 0,
+        ym: 0.5,
+        zm: 0,
+        feet: planners[ModesEnum.Idle].default_feet_pos
+    }
+
+    let settings = {
+        'Internal kinematic':false,
+        'Robot transform controls':false,
+        'Auto orient robot':true,
+        'Trace feet':debug,
+        'Trace points': 30,
+        'Fix camera on robot': true,
+        'Smooth motion': true,
+        'omega': 0,
+        'phi': 0,
+        'psi': 0,
+        'xm': 0,
+        'ym': 0.7,
+        'zm': 0,
+        'Background': "black"
+    }
+
+	onMount(async () => {
+        await cacheModelFiles()
+        await createScene();
+        if (!isEmbeddedApp && panel) createPanel();
+        servoAngles.subscribe(updateAnglesFromStore)
+	});
+
+    onDestroy(() => {
+        canvas.remove()
+        gui_panel?.destroy()
+    });
+    
+    const updateAnglesFromStore = (angles: number[]) => {
+        if (sceneManager.isDragging) return
+        if (settings['Internal kinematic']) return
+        modelTargetAngles = angles;
+    }
+
+    const createPanel = () => {
+        gui_panel = new GUI({width: 310});
+        gui_panel.close();
+        gui_panel.domElement.id = 'three-gui-panel';
+
+        const general = gui_panel.addFolder('General');
+        general.add(settings, 'Internal kinematic')
+        general.add(settings, 'Robot transform controls')
+        general.add(settings, 'Auto orient robot')
+
+        const kinematic = gui_panel.addFolder('Kinematics');
+        kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen();
+        kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen();
+        kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen();
+        kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
+        kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
+        kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
+ 
+        const visibility = gui_panel.addFolder('Visualization');
+        visibility.add(settings, 'Trace feet')
+        visibility.add(settings, 'Trace points', 1, 1000, 1)
+        visibility.add(settings, 'Smooth motion')
+        visibility.addColor(settings, 'Background')
+    }
+
+    const updateKinematicPosition = () => {
+        kinematicData.set([
+            settings.omega,
+            settings.phi,
+            settings.psi,
+            settings.xm,
+            settings.ym,
+            settings.zm
+        ])
+    }
+
+	const cacheModelFiles = async () => {
+		let data = await fetch('/stl.zip').then((data) => data.arrayBuffer());
+
+		var files = uzip.parse(data);
+
+		for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
+			const url = new URL(path, window.location.href);
+			fileService.saveFile(url.toString(), data);
+		}
+	};
+
+	const updateAngles = (name: string, angle: number) => {
+		modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
+        Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
+	};
+
+	const createScene = async () => {
+		sceneManager
+			.addRenderer({ antialias: true, canvas, alpha: true })
+			.addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
+			.addOrbitControls(8, 30, orbit)
+            .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 0.9 })
+			.addAmbientLight({ color: 0xffffff, intensity: 0.6 })
+			.addFogExp2(0xcccccc, 0.015)
+			.addModel($model)
+            .addTransformControls(sceneManager.model)
+			.fillParent()
+			.addRenderCb(render)
+			.startRenderLoop();
+            
+        if (ground) sceneManager
+			.addGroundPlane()
+            .addGridHelper({ size: 30, divisions: 25 })
+        
+        
+        const geometry = new SphereGeometry(0.1, 32, 16 ); 
+        const material = new MeshBasicMaterial( { color: 0xffff00 } ); 
+        target = new Mesh(geometry, material); 
+
+        if (debug) {
+            sceneManager.scene.add(target);
+            sceneManager.addDragControl(updateAngles)
+        }
+        if (sky) sceneManager.addSky()
+
+        for (let i = 0; i < 4; i++) {
+			const geometry = new BufferGeometry();
+			const material = new LineBasicMaterial({ color: footColor() });
+			const line = new Line(geometry, material);
+			trace_lines.push(geometry);
+			sceneManager.scene.add(line);
+		}
+	};
+
+    const renderTraceLines = (foot_positions: Vector3[]) => {
+        if (!settings['Trace feet']) {
+            if (!feet_trace.length) return 
+            trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
+            feet_trace = new Array(4).fill([])
+            return
+        }
+        
+        trace_lines.forEach((line, i) => {
+            feet_trace[i].push(foot_positions[i])
+            feet_trace[i] = feet_trace[i].slice(-settings['Trace points'])
+            line.setFromPoints(feet_trace[i]);
+        })
+    }
+
+    const calculate_kinematics = () => {
+        if (sceneManager.isDragging || !settings['Internal kinematic']) return
+        const position:body_state_t = {
+            omega: settings.omega,
+            phi: settings.phi,
+            psi: settings.psi,
+            xm: settings.xm,
+            ym: settings.ym,
+            zm: settings.zm,
+            feet: body_state.feet
+        }
+
+        let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]));
+        modelTargetAngles = new_angles;
+    }
+
+    const orient_robot = (robot: URDFRobot, toes:Vector3[]) => {
+        if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
+        robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
+
+        robot.position.z = smooth(robot.position.z, -settings.xm, 0.1);
+        robot.position.x = smooth(robot.position.x, -settings.zm, 0.1);
+
+        robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1);
+        robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1);
+        robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1);
+    }
+
+    const update_camera = (robot:URDFRobot) => {
+        if (!settings['Fix camera on robot']) return
+        sceneManager.orbit.target = robot.position.clone()
+    }
+
+    const smooth = (start:number, end:number, amount:number) => {
+        return settings['Smooth motion'] ? lerp(start, end, amount) : end
+    }
+
+    const update_gait = () => {
+        if (sceneManager.isDragging || !settings['Internal kinematic']) return
+        const controlData = get(outControllerData)
+        const data = {
+            stop: controlData[0],
+            lx: controlData[1],
+            ly: controlData[2],
+            rx: controlData[3],
+            ry: controlData[4],
+            h: controlData[5],
+            s: controlData[6],
+        };
+        body_state.ym = ((data.h + 127) * 0.75) / 100;
+
+        let planner = planners[get(mode)]
+        const delta = performance.now() - lastTick
+        lastTick = performance.now()
+        
+        body_state = planner.step(body_state, data, delta);
+
+        settings.omega = body_state.omega
+        settings.phi = body_state.phi
+        settings.psi = body_state.psi 
+        settings.xm = body_state.xm
+        settings.ym = body_state.ym
+        settings.zm = body_state.zm
+    }
+
+    const update_robot_position = (robot:URDFRobot) => {
+        if (!settings['Robot transform controls']) return
+        settings.omega = radToDeg(robot.rotation.y)
+        settings.phi = radToDeg(robot.rotation.z) + $mpu.heading -90
+        settings.psi = radToDeg(robot.rotation.x) + 90
+        settings.xm = robot.position.z * 100
+        settings.zm = -robot.position.x * 100
+    }
+
+    const updateTargetPosition = () => {
+        target.position.x = smooth(target.position.x, target_position.x, 0.5)
+        target.position.z = smooth(target.position.z, target_position.z, 0.5)
+    }
+
+	const render = () => {
+		const robot = sceneManager.model;
+		if (!robot) return;
+
+        const toes = toeWorldPositions(robot)
+
+        renderTraceLines(toes)
+        update_camera(robot)
+        update_gait()
+        calculate_kinematics()
+        update_robot_position(robot)
+        
+        sceneManager.transformControl.showX = settings['Robot transform controls']
+        sceneManager.transformControl.showY = settings['Robot transform controls']
+        sceneManager.transformControl.showZ = settings['Robot transform controls']
+        
+		for (let i = 0; i < $jointNames.length; i++) {
+            currentModelAngles[i] = smooth((robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI), modelTargetAngles[i], 0.1);
+            robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]));
+        }
+
+        orient_robot(robot, toes) 
+        updateTargetPosition();
+	};
+
+</script>
+
+<svelte:window on:resize={sceneManager.fillParent} />
+
+<canvas bind:this={canvas}></canvas>

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

@@ -0,0 +1,37 @@
+<script>
+	import { flip } from 'svelte/animate';
+	import { fly } from 'svelte/transition';
+	import { notifications } from '$lib/components/toasts/notifications';
+	import error from '~icons/tabler/circle-x';
+	import success from '~icons/tabler/circle-check';
+	import warning from '~icons/tabler/alert-triangle';
+	import info from '~icons/tabler/info-circle';
+
+	export let theme = {
+		error: 'alert-error',
+		success: 'alert-success',
+		warning: 'alert-warning',
+		info: 'alert-info'
+	};
+
+	export let icon = {
+		error: error,
+		success: success,
+		warning: warning,
+		info: info
+	};
+</script>
+
+<div class="toast toast-end mr-4 z-20">
+	{#each $notifications as notification (notification.id)}
+		<div
+			animate:flip={{ duration: 400 }}
+			class="alert animate-none {theme[notification.type]}"
+			in:fly={{ y: 100, duration: 400 }}
+			out:fly={{ x: 100, duration: 400 }}
+		>
+			<svelte:component this={icon[notification.type]} class="h-6 w-6 flex-shrink-0" />
+			<span>{notification.message}</span>
+		</div>
+	{/each}
+</div>

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

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

app/src/lib/gait.ts

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

app/src/lib/index.ts

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

app/src/lib/kinematic.ts

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

app/src/lib/models.ts

@@ -5,18 +5,165 @@ export interface ControllerInput {
 	right: vector;
 	height: number;
 	speed: number;
+	s1: number;
 }
 
+export type GithubRelease = {
+	message: string;
+	tag_name: string;
+	assets: Array<{
+		name: string;
+		browser_download_url: string;
+	}>;
+};
+
+export type JWT = { access_token: string };
+
 export type angles = number[] | Int16Array;
 
-export type AnglesData = {
+export type WifiStatus = {
-	type: 'angles';
+	status: number;
-	data: angles;
+	local_ip: string;
+	mac_address: string;
+	rssi: number;
+	ssid: string;
+	bssid: string;
+	channel: number;
+	subnet_mask: string;
+	gateway_ip: string;
+	dns_ip_1: string;
+	dns_ip_2?: string;
 };
 
-export type LogData = {
+export type WifiSettings = {
-	type: 'log';
+	hostname: string;
-	data: string;
+	priority_RSSI: boolean;
+	wifi_networks: NetworkItem[];
 };
 
-export type WebSocketJsonMsg = AnglesData | LogData;
+export type NetworkList = {
+	networks: NetworkItem[];
+};
+
+export type KnownNetworkItem = {
+	ssid: string;
+	password: string;
+	static_ip_config: boolean;
+	local_ip?: string;
+	subnet_mask?: string;
+	gateway_ip?: string;
+	dns_ip_1?: string;
+	dns_ip_2?: string;
+};
+
+export type NetworkItem = {
+	rssi: number;
+	ssid: string;
+	bssid: string;
+	channel: number;
+	encryption_type: number;
+};
+
+export type ApStatus = {
+	status: number;
+	ip_address: string;
+	mac_address: string;
+	station_num: number;
+};
+
+export type ApSettings = {
+	provision_mode: number;
+	ssid: string;
+	password: string;
+	channel: number;
+	ssid_hidden: boolean;
+	max_clients: number;
+	local_ip: string;
+	gateway_ip: string;
+	subnet_mask: string;
+};
+
+export type LightState = {
+	led_on: boolean;
+};
+
+export type NTPStatus = {
+	status: number;
+	utc_time: string;
+	local_time: string;
+	server: string;
+	uptime: number;
+};
+
+export type NTPSettings = {
+	enabled: boolean;
+	server: string;
+	tz_label: string;
+	tz_format: string;
+};
+
+export type Analytics = {
+	max_alloc_heap: number;
+	psram_size: number;
+	free_psram: number;
+	free_heap: number;
+	total_heap: number;
+	min_free_heap: number;
+	core_temp: number;
+	fs_total: number;
+	fs_used: number;
+	uptime: number;
+};
+
+export type StaticSystemInformation = {
+	esp_platform: string;
+	firmware_version: string;
+	cpu_freq_mhz: number;
+	cpu_type: string;
+	cpu_rev: number;
+	cpu_cores: number;
+	sketch_size: number;
+	free_sketch_space: number;
+	sdk_version: string;
+	arduino_version: string;
+	flash_chip_size: number;
+	flash_chip_speed: number;
+	cpu_reset_reason: string;
+};
+
+export type SystemInformation = Analytics & StaticSystemInformation;
+
+export type CameraSettings = {
+	framesize: number;
+	quality: number;
+	brightness: number;
+	contrast: number;
+	saturation: number;
+	sharpness: number;
+	denoise: number;
+	special_effect: number;
+	wb_mode: number;
+	vflip: boolean;
+	hmirror: boolean;
+};
+
+export type File = number;
+
+export interface Directory {
+	[key: string]: File | Directory;
+}
+
+export type Servo = {
+	name: string;
+	channel: number;
+	inverted: boolean;
+	angle: number;
+	center_angle: number;
+};
+
+export type ServoConfiguration = {
+	is_active: boolean;
+	servo_pwm_frequency: number;
+	servo_oscillator_frequency: number;
+	servos: Servo[];
+};

app/src/lib/sceneBuilder.ts

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

app/src/lib/services/index.ts

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

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

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

app/src/lib/stores/analytics.ts

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

app/src/lib/stores/imu.ts

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

app/src/lib/stores/index.ts

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

app/src/lib/stores/lidar.ts

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

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

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

app/src/lib/stores/orientation.ts

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

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

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

app/src/lib/stores/socket.ts

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

app/src/lib/stores/telemetry.ts

@@ -0,0 +1,45 @@
+import type { Battery, DownloadOTA } from '$lib/types/models';
+import { writable } from 'svelte/store';
+
+let telemetry_data = {
+	rssi: {
+		rssi: 0
+	},
+	battery: {
+		voltage: 100,
+		current: false
+	},
+	download_ota: {
+		status: 'none',
+		progress: 0,
+		error: ''
+	}
+};
+
+function createTelemetry() {
+	const { subscribe, set, update } = writable(telemetry_data);
+
+	return {
+		subscribe,
+		setRSSI: (data: number) => {
+			update((telemetry_data) => ({
+				...telemetry_data,
+				rssi: { rssi: data }
+			}));
+		},
+		setBattery: (data: Battery) => {
+			update((telemetry_data) => ({
+				...telemetry_data,
+				battery: { voltage: data.voltage, current: data.current }
+			}));
+		},
+		setDownloadOTA: (data: DownloadOTA) => {
+			update((telemetry_data) => ({
+				...telemetry_data,
+				download_ota: { status: data.status, progress: data.progress, error: data.error }
+			}));
+		}
+	};
+}
+
+export const telemetry = createTelemetry();

app/src/lib/stores/user.ts

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

app/src/lib/types/models.ts

@@ -0,0 +1,143 @@
+export type WifiStatus = {
+	status: number;
+	local_ip: string;
+	mac_address: string;
+	rssi: number;
+	ssid: string;
+	bssid: string;
+	channel: number;
+	subnet_mask: string;
+	gateway_ip: string;
+	dns_ip_1: string;
+	dns_ip_2?: string;
+};
+
+export type WifiSettings = {
+	hostname: string;
+	priority_RSSI: boolean;
+	wifi_networks: KnownNetworkItem[];
+};
+
+export type KnownNetworkItem = {
+	ssid: string;
+	password: string;
+	static_ip_config: boolean;
+	local_ip?: string;
+	subnet_mask?: string;
+	gateway_ip?: string;
+	dns_ip_1?: string;
+	dns_ip_2?: string;
+};
+
+export type NetworkItem = {
+	rssi: number;
+	ssid: string;
+	bssid: string;
+	channel: number;
+	encryption_type: number;
+};
+
+export type ApStatus = {
+	status: number;
+	ip_address: string;
+	mac_address: string;
+	station_num: number;
+};
+
+export type ApSettings = {
+	provision_mode: number;
+	ssid: string;
+	password: string;
+	channel: number;
+	ssid_hidden: boolean;
+	max_clients: number;
+	local_ip: string;
+	gateway_ip: string;
+	subnet_mask: string;
+};
+
+export type NTPStatus = {
+	status: number;
+	utc_time: string;
+	local_time: string;
+	server: string;
+	uptime: number;
+};
+
+export type RSSI = {
+	rssi: number;
+	ssid: string;
+};
+
+export type Battery = {
+	voltage: number;
+	current: boolean;
+};
+
+export type DownloadOTA = {
+	status: string;
+	progress: number;
+	error: string;
+};
+
+export type NTPSettings = {
+	enabled: boolean;
+	server: string;
+	tz_label: string;
+	tz_format: string;
+};
+
+export type Analytics = {
+	max_alloc_heap: number;
+	psram_size: number;
+	free_psram: number;
+	free_heap: number;
+	total_heap: number;
+	min_free_heap: number;
+	core_temp: number;
+	fs_total: number;
+	fs_used: number;
+	uptime: number;
+	cpu0_usage: number;
+	cpu1_usage: number;
+	cpu_usage: number;
+};
+
+export type Rssi = {
+	rssi: number;
+	ssid: string;
+};
+
+export type StaticSystemInformation = {
+	esp_platform: string;
+	firmware_version: string;
+	cpu_freq_mhz: number;
+	cpu_type: string;
+	cpu_rev: number;
+	cpu_cores: number;
+	sketch_size: number;
+	free_sketch_space: number;
+	sdk_version: string;
+	arduino_version: string;
+	flash_chip_size: number;
+	flash_chip_speed: number;
+	cpu_reset_reason: string;
+};
+
+export type SystemInformation = Analytics & StaticSystemInformation;
+
+export type IMU = {
+	x: number;
+	y: number;
+	z: number;
+	imu_temp: number;
+	altitude: number;
+	bmp_temp: number;
+	pressure: number;
+};
+
+export interface I2CDevice {
+    address: number;
+    part_number: string;
+    name: string;
+};

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

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

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

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

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

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

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

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

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

@@ -7,3 +7,30 @@ export const humanFileSize = (size: number): string => {
 export const capitalize = (str: string): string => {
 	return str.charAt(0).toUpperCase() + str.slice(1).toLowerCase();
 };
+
+export const convertSeconds = (seconds: number) => {
+	// Calculate the number of seconds, minutes, hours, and days
+	let minutes = Math.floor(seconds / 60);
+	let hours = Math.floor(minutes / 60);
+	let days = Math.floor(hours / 24);
+
+	// Calculate the remaining hours, minutes, and seconds
+	hours = hours % 24;
+	minutes = minutes % 60;
+	seconds = seconds % 60;
+
+	// Create the formatted string
+	let result = '';
+	if (days > 0) {
+		result += days + ' day' + (days > 1 ? 's' : '') + ' ';
+	}
+	if (hours > 0) {
+		result += hours + ' hour' + (hours > 1 ? 's' : '') + ' ';
+	}
+	if (minutes > 0) {
+		result += minutes + ' minute' + (minutes > 1 ? 's' : '') + ' ';
+	}
+	result += seconds + ' second' + (seconds > 1 ? 's' : '');
+
+	return result;
+};

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

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

app/src/main.ts

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

app/src/routes/+error.svelte

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

app/src/routes/+layout.svelte

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

app/src/routes/+layout.ts

@@ -0,0 +1,40 @@
+import { jointNames, model } from '$lib/stores';
+import { loadModelAsync } from '$lib/utilities/model-utilities';
+
+export const prerender = true;
+export const ssr = false;
+
+const registerFetchIntercept = async () => {
+	const { fetch: originalFetch } = window;
+	const fileService = (await import('$lib/services/file-service')).default;
+	window.fetch = async (resource, config) => {
+		let url = resource instanceof Request ? resource.url : resource.toString();
+		let file = await fileService.getFile(url);
+		return file.isOk() ? new Response(file.inner) : originalFetch(resource, config);
+	};
+};
+
+const loadModelFiles = async () => {
+	const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
+	if (modelRes.isOk()) {
+		const [urdf, JOINT_NAME] = modelRes.inner;
+		jointNames.set(JOINT_NAME);
+		model.set(urdf);
+	} else {
+		console.error(modelRes.inner, { exception: modelRes.exception });
+	}
+};
+
+export const load = async ({ fetch }) => {
+	await registerFetchIntercept();
+	await loadModelFiles();
+	const result = await fetch('/api/features');
+	const features = await result.json();
+	return {
+		features,
+		title: 'Spot micro controller',
+		github: 'runeharlyk/SpotMicroESP32-Leika',
+		app_name: 'Spot Micro Controller',
+		copyright: '2024 Rune Harlyk'
+	};
+};

app/src/routes/+page.svelte

@@ -0,0 +1,24 @@
+<script lang="ts">
+	import type { PageData } from './$types';
+	import { notifications } from '$lib/components/toasts/notifications';
+	import Visualization from '$lib/components/Visualization.svelte';
+
+	export let data: PageData;
+</script>
+
+<div class="hero bg-base-100 h-screen">
+	<div class="card md:card-side bg-base-200 shadow-2xl flex justify-center items-center">
+        <div class="w-64 h-64">
+            <Visualization sky={false} orbit panel={false} ground={false}/>
+        </div>
+		<div class="card-body w-80">
+			<h2 class="card-title text-center text-2xl">Welcome to {data.app_name}</h2>
+			<p class="py-6 text-center"></p>
+			<a
+				class="btn btn-primary"
+				href="/controller"
+				on:click={() => notifications.success('You did it!', 1000)}>Begin</a
+			>
+		</div>
+	</div>
+</div>

app/src/routes/Controller.svelte

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

app/src/routes/Settings.svelte

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,3 @@
+export const load = async () => {
+	return { title: 'Controller' };
+};

app/src/routes/controller/Controls.svelte

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