From 57d7ef74c2715f5cfd41ea9d5936fa355227bb0b Mon Sep 17 00:00:00 2001
From: Brendan Westley <brendan@westley.us>
Date: Sun, 8 Sep 2024 17:07:02 -0500
Subject: [PATCH 01/15] Remove LeafletForBlazor and display and add waypoints
 in leaflet

---
 .../DesignTimeBuild/.dtbcache.v2              | Bin 248823 -> 250969 bytes
 .vs/Basestation_Software/v17/.futdcache.v2    | Bin 529 -> 1081 bytes
 .vs/Basestation_Software/v17/fileList.bin     | Bin 327366 -> 347965 bytes
 .../basestation_software.metadata.v7.bin      | Bin 0 -> 385509 bytes
 .../basestation_software.metadata.v9.bin      | Bin 2257 -> 0 bytes
 .../basestation_software.projects.v7.bin      | Bin 0 -> 2180809 bytes
 .../basestation_software.projects.v9.bin      | Bin 306045 -> 0 bytes
 Basestation_Software.Web/Core/App.razor       |   4 +
 .../Core/Components/RoverMap.razor            | 219 ++++--
 Basestation_Software.Web/Core/Pages/RED.razor |   2 +-
 Basestation_Software.Web/wwwroot/leaflet.css  | 656 ++++++++++++++++++
 Basestation_Software.Web/wwwroot/leaflet.js   |   6 +
 .../wwwroot/leafletcontextmenu.css            |  54 ++
 .../wwwroot/leafletcontextmenu.js             | 586 ++++++++++++++++
 14 files changed, 1457 insertions(+), 70 deletions(-)
 create mode 100644 .vs/ProjectEvaluation/basestation_software.metadata.v7.bin
 delete mode 100644 .vs/ProjectEvaluation/basestation_software.metadata.v9.bin
 create mode 100644 .vs/ProjectEvaluation/basestation_software.projects.v7.bin
 delete mode 100644 .vs/ProjectEvaluation/basestation_software.projects.v9.bin
 create mode 100644 Basestation_Software.Web/wwwroot/leaflet.css
 create mode 100644 Basestation_Software.Web/wwwroot/leaflet.js
 create mode 100644 Basestation_Software.Web/wwwroot/leafletcontextmenu.css
 create mode 100644 Basestation_Software.Web/wwwroot/leafletcontextmenu.js

diff --git a/.vs/Basestation_Software/DesignTimeBuild/.dtbcache.v2 b/.vs/Basestation_Software/DesignTimeBuild/.dtbcache.v2
index 42cc9cb18bf9512a4be13d7857f3b3d5456a84a3..c770ed1ddc02d0fd1685a7bd47f4fd211211083b 100644
GIT binary patch
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diff --git a/.vs/Basestation_Software/v17/.futdcache.v2 b/.vs/Basestation_Software/v17/.futdcache.v2
index a976bfe7c5290af04d54f489c30279375a3759ed..6073bfa199d538b393a9e209be46e0cc542cdf9c 100644
GIT binary patch
delta 126
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f^LIEZajTmc6t0k4CiYJH96n{!IDYT?1~v)+F5xvr

delta 10
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diff --git a/.vs/Basestation_Software/v17/fileList.bin b/.vs/Basestation_Software/v17/fileList.bin
index 7b52677fadb5659671f086d235f6c8c485173baf..0b7305650e88052eed1968c3fe14d52471bebc90 100644
GIT binary patch
literal 347965
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diff --git a/Basestation_Software.Web/Core/App.razor b/Basestation_Software.Web/Core/App.razor
index ce8f82c..0bd7550 100644
--- a/Basestation_Software.Web/Core/App.razor
+++ b/Basestation_Software.Web/Core/App.razor
@@ -5,6 +5,8 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <base href="/" />
+    <link rel="stylesheet" href="leaflet.css" />
+    <link rel="stylesheet" href="leafletcontextmenu.css" />
     <link rel="stylesheet" href="Basestation_Software.Web.styles.css" />
     <link rel="stylesheet" href="bootstrap/css/bootstrap.min.css" />
     <link rel="stylesheet" href="bootstrap/icons/font/bootstrap-icons.css"/>
@@ -17,6 +19,8 @@
 
 <body>
     <Routes @rendermode="InteractiveServer"/>
+    <script src="leaflet.js"></script>
+    <script src="leafletcontextmenu.js"></script>
     <script src="_framework/blazor.web.js"></script>
     <script src="bootstrap/js/bootstrap.min.js"></script>
     <script src="_content/Radzen.Blazor/Radzen.Blazor.js?v=@(typeof(Radzen.Colors).Assembly.GetName().Version)"></script>
diff --git a/Basestation_Software.Web/Core/Components/RoverMap.razor b/Basestation_Software.Web/Core/Components/RoverMap.razor
index 5572e72..d05eee2 100644
--- a/Basestation_Software.Web/Core/Components/RoverMap.razor
+++ b/Basestation_Software.Web/Core/Components/RoverMap.razor
@@ -2,6 +2,65 @@
 @inject MapTileService _MapTileService
 @inject GPSWaypointService _GPSWaypointService
 @inject NavigationManager _NavigationManager
+@inject IJSRuntime _IJSRuntime
+
+<script>
+    // Create global roverMaps collection if it doesn't exist.
+    if (window.roverMaps === undefined) { window.roverMaps = {}; }
+
+    // JS interop
+    window.roverMaps.@(ID) = {
+        lMap: null,
+        waypointLayerGroup: null,
+        dotNetComponent: null,
+        // Create leaflet map.
+        init: (dotNetComponent, urlTemplate) => {
+            this.dotNetComponent = dotNetComponent;
+            this.lMap = L.map("@(ID)", {
+                center: [@InitialLat, @InitialLong],
+                zoom: @InitialZoomLevel,
+                contextmenu: true,
+                contextmenuWidth: 140,
+                contextmenuItems: [{
+                    text: "Add Waypoint",
+                    callback: window.roverMaps.@(ID).addWaypoint
+                }]
+            }).addLayer(L.tileLayer(urlTemplate, {
+                attribution: "Basestation_Software.Api",
+                maxNativeZoom: 18,
+                maxZoom: 21,
+            })).addControl(L.control.scale({
+                metric: true,
+                imperial: false
+            }));
+            this.lMap.on('zoomend', window.roverMaps.@(ID).onZoomLevelChange);
+            this.lMap.on('moveend', window.roverMaps.@(ID).onZoomLevelChange);
+            this.waypointLayerGroup = L.layerGroup([]).addTo(this.lMap);
+        },
+        // Call component.OnZoomLevel.
+        onZoomLevelChange: () => {
+            let center = this.lMap.getCenter();
+            let zoom = this.lMap.getZoom();
+            this.dotNetComponent.invokeMethodAsync("OnZoomLevel", center.lat, center.lng, zoom);
+        },
+        // Call component.AddWaypoint.
+        addWaypoint: event => {
+            this.dotNetComponent.invokeMethodAsync("AddWaypoint", event.latlng.lat, event.latlng.lng);
+        },
+        // Create a waypoint marker.
+        addWaypointMarker: (lat, lng, radius, color) => {
+            if (radius === 0) {
+                L.circleMarker([lat, lng], { radius: 20, color: color, dashArray: "15.4 16", fill: false }).addTo(this.waypointLayerGroup);
+            } else {
+                L.circle([lat, lng], { radius: radius, color: color }).addTo(this.waypointLayerGroup);
+            }
+        },
+        // Clear waypoint markers.
+        clearWaypointMarkers: () => {
+            this.waypointLayerGroup.clearLayers();
+        }
+    };
+</script>
 
 <style>
     .scrollable {
@@ -35,63 +94,36 @@
         }
         else
         {
-            <RealTimeMap Parameters="@parameters" height="460px" width="645px" OnZoomLevelEndChange="@OnZoomLevel"></RealTimeMap>
+            <div id="@ID" style="width: 645px; height: 460px; position: relative;"></div>
         }
     </div>
+    <div class="card-footer" id="cursorPosition"></div>
 </div>
 
 @code
 {
+    // Component parameters.
+    [Parameter]
+    public string ID { get; set; } = "";
+    [Parameter]
+    public double InitialLat { get; set; } = 40;
+
+    [Parameter]
+    public double InitialLong { get; set; } = -100;
+
+    [Parameter]
+    public int InitialZoomLevel { get; set; } = 2;
+
     // Declare page member variables.
+    private string jsInteropName;
 
     // Flags.
     private bool _dataLoaded = false;
     private bool _cachingMapTiles = false;
 
-    // Map configuration parameters.
-    private RealTimeMap.Basemap basemaps;
-    private RealTimeMap.LoadParameters parameters;
-    
     protected override void OnInitialized()
     {
-        // Get base URI for the API endpoint.
-        Uri baseUri = new Uri(_NavigationManager.BaseUri);
-        string baseUriWithoutPort = $"{baseUri.Scheme}://{baseUri.Host}";
-
-
-        // Add layers to the map, use openmaps by default.
-        basemaps = new RealTimeMap.Basemap()
-        {
-            basemap_layers = new List<RealTimeMap.BasemapConfigLayer>
-            {
-                new RealTimeMap.BasemapConfigLayer()
-                {
-                    url = baseUriWithoutPort + ":5000/api/MapTiles/{z}/{y}/{x}.png",
-                    attribution = "Basestation_Software.Api",
-                    title = "AutoCache API Storage",
-                    max_zoom = 20
-                }
-            }
-        };
-    
-        // Construct the parameters object.
-        parameters = new RealTimeMap.LoadParameters()
-        {
-            // Set the default location when the map is initialized.
-            location = new RealTimeMap.Location()
-            {
-                latitude = 37.951764,
-                longitude = -91.778441,
-            },
-            zoom_level = 18,
-            basemap = basemaps,
-            map_scale = new RealTimeMap.MapScale()
-            {
-                has = true,
-                meters = true,
-                miles = false
-            }
-        };
+        this.jsInteropName = $"window.roverMaps.{ID}";
     }
 
 
@@ -102,42 +134,89 @@
         await InvokeAsync(StateHasChanged);
     }
 
-    void IDisposable.Dispose()
+    protected override async Task OnAfterRenderAsync(bool firstRender)
     {
+        if (firstRender)
+        {
+            // Create leaflet map.
+            Uri baseUri = new Uri(_NavigationManager.BaseUri);
+            await _IJSRuntime.InvokeVoidAsync($"{jsInteropName}.init", [DotNetObjectReference.Create(this), $"{baseUri.Scheme}://{baseUri.Host}:5000/api/MapTiles/{{z}}/{{y}}/{{x}}.png"]);
 
+            // Plot waypoints and keep them updated.
+            await PlotWaypoints();
+            _GPSWaypointService.SubscribeToWaypointsChanges(OnWaypointSync);
+        }
     }
 
-    public async Task OnZoomLevel(RealTimeMap.MapZoomEventArgs args)
+    private async Task OnWaypointSync()
     {
-        #if DEBUG
-        using (HttpClient client = new HttpClient())
-        {
-            client.DefaultRequestHeaders.UserAgent.ParseAdd("Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/91.0.4472.124 Safari/537.36");
-            client.DefaultRequestHeaders.Referrer = new Uri("http://mt1.google.com");
+        // Update waypoint markers.
+        await _IJSRuntime.InvokeVoidAsync($"{jsInteropName}.clearWaypointMarkers");
+        await PlotWaypoints();
+    }
 
-            var tasks = new List<Task>();
+    private async Task PlotWaypoints()
+    {
+        await Task.WhenAll(_GPSWaypointService.GetGPSWaypoints().ConvertAll<Task>(waypoint =>
+        {
+            return _IJSRuntime.InvokeVoidAsync($"{jsInteropName}.addWaypointMarker",
+        [
+            waypoint.Latitude.GetValueOrDefault(0),
+            waypoint.Longitude.GetValueOrDefault(0),
+            waypoint.SearchRadius.GetValueOrDefault(0),
+            ColorTranslator.ToHtml(Color.FromArgb(waypoint.WaypointColor.GetValueOrDefault(0)))
+        ]).AsTask();
+        }));
+    }
 
-            // Convert geographic bounds to tile coordinates
-            int tileX = LonToTileX(args.centerOfView.longitude, args.zoomLevel);
-            int tileY = LatToTileY(args.centerOfView.latitude, args.zoomLevel);
-            
-            for (int y = (tileY - 3); y < (tileY + 3); y++)
+    [JSInvokable]
+    public async Task AddWaypoint(double lat, double lon)
+    {
+        await _GPSWaypointService.AddGPSWaypoint(new GPSWaypoint
             {
-                for (int x = (tileX - 3); x < (tileX + 3); x++)
-                {
-                    MapTile? mapTile = await _MapTileService.GetMapTile(x, y, args.zoomLevel);
-                    if (mapTile is null)
-                    {
-                        string url = $"http://mt1.google.com/vt/lyrs=y&x={x}&y={y}&z={args.zoomLevel}";
-                        tasks.Add(DownloadAndSaveTile(client, url, x, y, args.zoomLevel));
-                        _cachingMapTiles = true;
-                    }
-                }
-            }
+                ID = -1,
+                Name = "",
+                Latitude = lat,
+                Longitude = lon,
+                Altitude = 0,
+                WaypointColor = 0,
+                SearchRadius = 0,
+                Type = WaypointType.Navigation,
+            });
+    }
+
+    [JSInvokable]
+    public async Task OnZoomLevel(double lat, double lon, int zoom)
+    {
+#if DEBUG
+    using (HttpClient client = new HttpClient())
+    {
+    client.DefaultRequestHeaders.UserAgent.ParseAdd("Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/91.0.4472.124 Safari/537.36");
+    client.DefaultRequestHeaders.Referrer = new Uri("http://mt1.google.com");
+
+    var tasks = new List<Task>();
 
-            await Task.WhenAll(tasks);
-            _cachingMapTiles = false;
+    // Convert geographic bounds to tile coordinates
+    int tileX = LonToTileX(lon, zoom);
+    int tileY = LatToTileY(lat, zoom);
+
+    for (int y = (tileY - 3); y < (tileY + 3); y++)
+    {
+    for (int x = (tileX - 3); x < (tileX + 3); x++)
+    {
+        MapTile? mapTile = await _MapTileService.GetMapTile(x, y, zoom);
+        if (mapTile is null)
+        {
+            string url = $"http://mt1.google.com/vt/lyrs=y&x={x}&y={y}&z={zoom}";
+            tasks.Add(DownloadAndSaveTile(client, url, x, y, zoom));
+            _cachingMapTiles = true;
         }
+    }
+    }
+
+    await Task.WhenAll(tasks);
+    _cachingMapTiles = false;
+    }
         #endif
     }
 
@@ -171,4 +250,6 @@
         double latRad = lat * Math.PI / 180.0;
         return (int)Math.Floor((1.0 - Math.Log(Math.Tan(latRad) + 1.0 / Math.Cos(latRad)) / Math.PI) / 2.0 * Math.Pow(2.0, zoom));
     }
+
+    void IDisposable.Dispose() { }
 }
diff --git a/Basestation_Software.Web/Core/Pages/RED.razor b/Basestation_Software.Web/Core/Pages/RED.razor
index 9d3a844..98650bf 100644
--- a/Basestation_Software.Web/Core/Pages/RED.razor
+++ b/Basestation_Software.Web/Core/Pages/RED.razor
@@ -30,7 +30,7 @@
         <div class="col-md-5">
             <div class="row flex-grow-1">
                 <div class="col-12">
-                    <RoverMap />
+                    <RoverMap ID="mainmap" InitialLat=37.951764 InitialLong=-91.778441 InitialZoomLevel=18 />
                 </div>
             </div>
         </div>
diff --git a/Basestation_Software.Web/wwwroot/leaflet.css b/Basestation_Software.Web/wwwroot/leaflet.css
new file mode 100644
index 0000000..1981009
--- /dev/null
+++ b/Basestation_Software.Web/wwwroot/leaflet.css
@@ -0,0 +1,656 @@
+/* required styles */
+
+.leaflet-pane,
+.leaflet-tile,
+.leaflet-marker-icon,
+.leaflet-marker-shadow,
+.leaflet-tile-container,
+.leaflet-pane > svg,
+.leaflet-pane > canvas,
+.leaflet-zoom-box,
+.leaflet-image-layer,
+.leaflet-layer {
+	position: absolute;
+	left: 0;
+	top: 0;
+	}
+.leaflet-container {
+	overflow: hidden;
+	}
+.leaflet-tile,
+.leaflet-marker-icon,
+.leaflet-marker-shadow {
+	-webkit-user-select: none;
+	   -moz-user-select: none;
+	        user-select: none;
+	  -webkit-user-drag: none;
+	}
+/* Prevents IE11 from highlighting tiles in blue */
+.leaflet-tile::selection {
+	background: transparent;
+}
+/* Safari renders non-retina tile on retina better with this, but Chrome is worse */
+.leaflet-safari .leaflet-tile {
+	image-rendering: -webkit-optimize-contrast;
+	}
+/* hack that prevents hw layers "stretching" when loading new tiles */
+.leaflet-safari .leaflet-tile-container {
+	width: 1600px;
+	height: 1600px;
+	-webkit-transform-origin: 0 0;
+	}
+.leaflet-marker-icon,
+.leaflet-marker-shadow {
+	display: block;
+	}
+/* .leaflet-container svg: reset svg max-width decleration shipped in Joomla! (joomla.org) 3.x */
+/* .leaflet-container img: map is broken in FF if you have max-width: 100% on tiles */
+.leaflet-container .leaflet-overlay-pane svg {
+	max-width: none !important;
+	max-height: none !important;
+	}
+.leaflet-container .leaflet-marker-pane img,
+.leaflet-container .leaflet-shadow-pane img,
+.leaflet-container .leaflet-tile-pane img,
+.leaflet-container img.leaflet-image-layer,
+.leaflet-container .leaflet-tile {
+	max-width: none !important;
+	max-height: none !important;
+	width: auto;
+	padding: 0;
+	}
+
+.leaflet-container.leaflet-touch-zoom {
+	-ms-touch-action: pan-x pan-y;
+	touch-action: pan-x pan-y;
+	}
+.leaflet-container.leaflet-touch-drag {
+	-ms-touch-action: pinch-zoom;
+	/* Fallback for FF which doesn't support pinch-zoom */
+	touch-action: none;
+	touch-action: pinch-zoom;
+}
+.leaflet-container.leaflet-touch-drag.leaflet-touch-zoom {
+	-ms-touch-action: none;
+	touch-action: none;
+}
+.leaflet-container {
+	-webkit-tap-highlight-color: transparent;
+}
+.leaflet-container a {
+	-webkit-tap-highlight-color: rgba(51, 181, 229, 0.4);
+}
+.leaflet-tile {
+	filter: inherit;
+	visibility: hidden;
+	}
+.leaflet-tile-loaded {
+	visibility: inherit;
+	}
+.leaflet-zoom-box {
+	width: 0;
+	height: 0;
+	-moz-box-sizing: border-box;
+	     box-sizing: border-box;
+	z-index: 800;
+	}
+/* workaround for https://bugzilla.mozilla.org/show_bug.cgi?id=888319 */
+.leaflet-overlay-pane svg {
+	-moz-user-select: none;
+	}
+
+.leaflet-pane         { z-index: 400; }
+
+.leaflet-tile-pane    { z-index: 200; }
+.leaflet-overlay-pane { z-index: 400; }
+.leaflet-shadow-pane  { z-index: 500; }
+.leaflet-marker-pane  { z-index: 600; }
+.leaflet-tooltip-pane   { z-index: 650; }
+.leaflet-popup-pane   { z-index: 700; }
+
+.leaflet-map-pane canvas { z-index: 100; }
+.leaflet-map-pane svg    { z-index: 200; }
+
+.leaflet-vml-shape {
+	width: 1px;
+	height: 1px;
+	}
+.lvml {
+	behavior: url(#default#VML);
+	display: inline-block;
+	position: absolute;
+	}
+
+
+/* control positioning */
+
+.leaflet-control {
+	position: relative;
+	z-index: 800;
+	pointer-events: visiblePainted; /* IE 9-10 doesn't have auto */
+	pointer-events: auto;
+	}
+.leaflet-top,
+.leaflet-bottom {
+	position: absolute;
+	z-index: 1000;
+	pointer-events: none;
+	}
+.leaflet-top {
+	top: 0;
+	}
+.leaflet-right {
+	right: 0;
+	}
+.leaflet-bottom {
+	bottom: 0;
+	}
+.leaflet-left {
+	left: 0;
+	}
+.leaflet-control {
+	float: left;
+	clear: both;
+	}
+.leaflet-right .leaflet-control {
+	float: right;
+	}
+.leaflet-top .leaflet-control {
+	margin-top: 10px;
+	}
+.leaflet-bottom .leaflet-control {
+	margin-bottom: 10px;
+	}
+.leaflet-left .leaflet-control {
+	margin-left: 10px;
+	}
+.leaflet-right .leaflet-control {
+	margin-right: 10px;
+	}
+
+
+/* zoom and fade animations */
+
+.leaflet-fade-anim .leaflet-popup {
+	opacity: 0;
+	-webkit-transition: opacity 0.2s linear;
+	   -moz-transition: opacity 0.2s linear;
+	        transition: opacity 0.2s linear;
+	}
+.leaflet-fade-anim .leaflet-map-pane .leaflet-popup {
+	opacity: 1;
+	}
+.leaflet-zoom-animated {
+	-webkit-transform-origin: 0 0;
+	    -ms-transform-origin: 0 0;
+	        transform-origin: 0 0;
+	}
+svg.leaflet-zoom-animated {
+	will-change: transform;
+}
+
+.leaflet-zoom-anim .leaflet-zoom-animated {
+	-webkit-transition: -webkit-transform 0.25s cubic-bezier(0,0,0.25,1);
+	   -moz-transition:    -moz-transform 0.25s cubic-bezier(0,0,0.25,1);
+	        transition:         transform 0.25s cubic-bezier(0,0,0.25,1);
+	}
+.leaflet-zoom-anim .leaflet-tile,
+.leaflet-pan-anim .leaflet-tile {
+	-webkit-transition: none;
+	   -moz-transition: none;
+	        transition: none;
+	}
+
+.leaflet-zoom-anim .leaflet-zoom-hide {
+	visibility: hidden;
+	}
+
+
+/* cursors */
+
+.leaflet-interactive {
+	cursor: pointer;
+	}
+.leaflet-grab {
+	cursor: -webkit-grab;
+	cursor:    -moz-grab;
+	cursor:         grab;
+	}
+.leaflet-crosshair,
+.leaflet-crosshair .leaflet-interactive {
+	cursor: crosshair;
+	}
+.leaflet-popup-pane,
+.leaflet-control {
+	cursor: auto;
+	}
+.leaflet-dragging .leaflet-grab,
+.leaflet-dragging .leaflet-grab .leaflet-interactive,
+.leaflet-dragging .leaflet-marker-draggable {
+	cursor: move;
+	cursor: -webkit-grabbing;
+	cursor:    -moz-grabbing;
+	cursor:         grabbing;
+	}
+
+/* marker & overlays interactivity */
+.leaflet-marker-icon,
+.leaflet-marker-shadow,
+.leaflet-image-layer,
+.leaflet-pane > svg path,
+.leaflet-tile-container {
+	pointer-events: none;
+	}
+
+.leaflet-marker-icon.leaflet-interactive,
+.leaflet-image-layer.leaflet-interactive,
+.leaflet-pane > svg path.leaflet-interactive,
+svg.leaflet-image-layer.leaflet-interactive path {
+	pointer-events: visiblePainted; /* IE 9-10 doesn't have auto */
+	pointer-events: auto;
+	}
+
+/* visual tweaks */
+
+.leaflet-container {
+	background: #ddd;
+	outline-offset: 1px;
+	}
+.leaflet-container a {
+	color: #0078A8;
+	}
+.leaflet-zoom-box {
+	border: 2px dotted #38f;
+	background: rgba(255,255,255,0.5);
+	}
+
+
+/* general typography */
+.leaflet-container {
+	font-family: "Helvetica Neue", Arial, Helvetica, sans-serif;
+	font-size: 12px;
+	font-size: 0.75rem;
+	line-height: 1.5;
+	}
+
+
+/* general toolbar styles */
+
+.leaflet-bar {
+	box-shadow: 0 1px 5px rgba(0,0,0,0.65);
+	border-radius: 4px;
+	}
+.leaflet-bar a {
+	background-color: #fff;
+	border-bottom: 1px solid #ccc;
+	width: 26px;
+	height: 26px;
+	line-height: 26px;
+	display: block;
+	text-align: center;
+	text-decoration: none;
+	color: black;
+	}
+.leaflet-bar a,
+.leaflet-control-layers-toggle {
+	background-position: 50% 50%;
+	background-repeat: no-repeat;
+	display: block;
+	}
+.leaflet-bar a:hover,
+.leaflet-bar a:focus {
+	background-color: #f4f4f4;
+	}
+.leaflet-bar a:first-child {
+	border-top-left-radius: 4px;
+	border-top-right-radius: 4px;
+	}
+.leaflet-bar a:last-child {
+	border-bottom-left-radius: 4px;
+	border-bottom-right-radius: 4px;
+	border-bottom: none;
+	}
+.leaflet-bar a.leaflet-disabled {
+	cursor: default;
+	background-color: #f4f4f4;
+	color: #bbb;
+	}
+
+.leaflet-touch .leaflet-bar a {
+	width: 30px;
+	height: 30px;
+	line-height: 30px;
+	}
+.leaflet-touch .leaflet-bar a:first-child {
+	border-top-left-radius: 2px;
+	border-top-right-radius: 2px;
+	}
+.leaflet-touch .leaflet-bar a:last-child {
+	border-bottom-left-radius: 2px;
+	border-bottom-right-radius: 2px;
+	}
+
+/* zoom control */
+
+.leaflet-control-zoom-in,
+.leaflet-control-zoom-out {
+	font: bold 18px 'Lucida Console', Monaco, monospace;
+	text-indent: 1px;
+	}
+
+.leaflet-touch .leaflet-control-zoom-in, .leaflet-touch .leaflet-control-zoom-out  {
+	font-size: 22px;
+	}
+
+
+/* layers control */
+
+.leaflet-control-layers {
+	box-shadow: 0 1px 5px rgba(0,0,0,0.4);
+	background: #fff;
+	border-radius: 5px;
+	}
+.leaflet-control-layers-toggle {
+	background-image: url(images/layers.png);
+	width: 36px;
+	height: 36px;
+	}
+.leaflet-retina .leaflet-control-layers-toggle {
+	background-image: url(images/layers-2x.png);
+	background-size: 26px 26px;
+	}
+.leaflet-touch .leaflet-control-layers-toggle {
+	width: 44px;
+	height: 44px;
+	}
+.leaflet-control-layers .leaflet-control-layers-list,
+.leaflet-control-layers-expanded .leaflet-control-layers-toggle {
+	display: none;
+	}
+.leaflet-control-layers-expanded .leaflet-control-layers-list {
+	display: block;
+	position: relative;
+	}
+.leaflet-control-layers-expanded {
+	padding: 6px 10px 6px 6px;
+	color: #333;
+	background: #fff;
+	}
+.leaflet-control-layers-scrollbar {
+	overflow-y: scroll;
+	overflow-x: hidden;
+	padding-right: 5px;
+	}
+.leaflet-control-layers-selector {
+	margin-top: 2px;
+	position: relative;
+	top: 1px;
+	}
+.leaflet-control-layers label {
+	display: block;
+	font-size: 13px;
+	font-size: 1.08333em;
+	}
+.leaflet-control-layers-separator {
+	height: 0;
+	border-top: 1px solid #ddd;
+	margin: 5px -10px 5px -6px;
+	}
+
+/* Default icon URLs */
+.leaflet-default-icon-path { /* used only in path-guessing heuristic, see L.Icon.Default */
+	background-image: url(images/marker-icon.png);
+	}
+
+
+/* attribution and scale controls */
+
+.leaflet-container .leaflet-control-attribution {
+	background: #fff;
+	background: rgba(255, 255, 255, 0.8);
+	margin: 0;
+	}
+.leaflet-control-attribution,
+.leaflet-control-scale-line {
+	padding: 0 5px;
+	color: #333;
+	line-height: 1.4;
+	}
+.leaflet-control-attribution a {
+	text-decoration: none;
+	}
+.leaflet-control-attribution a:hover,
+.leaflet-control-attribution a:focus {
+	text-decoration: underline;
+	}
+.leaflet-attribution-flag {
+	display: inline !important;
+	vertical-align: baseline !important;
+	width: 1em;
+	height: 0.6669em;
+	}
+.leaflet-left .leaflet-control-scale {
+	margin-left: 5px;
+	}
+.leaflet-bottom .leaflet-control-scale {
+	margin-bottom: 5px;
+	}
+.leaflet-control-scale-line {
+	border: 2px solid #777;
+	border-top: none;
+	line-height: 1.1;
+	padding: 2px 5px 1px;
+	white-space: nowrap;
+	-moz-box-sizing: border-box;
+	     box-sizing: border-box;
+	background: rgba(255, 255, 255, 0.8);
+	text-shadow: 1px 1px #fff;
+	}
+.leaflet-control-scale-line:not(:first-child) {
+	border-top: 2px solid #777;
+	border-bottom: none;
+	margin-top: -2px;
+	}
+.leaflet-control-scale-line:not(:first-child):not(:last-child) {
+	border-bottom: 2px solid #777;
+	}
+
+.leaflet-touch .leaflet-control-attribution,
+.leaflet-touch .leaflet-control-layers,
+.leaflet-touch .leaflet-bar {
+	box-shadow: none;
+	}
+.leaflet-touch .leaflet-control-layers,
+.leaflet-touch .leaflet-bar {
+	border: 2px solid rgba(0,0,0,0.2);
+	background-clip: padding-box;
+	}
+
+
+/* popup */
+
+.leaflet-popup {
+	position: absolute;
+	text-align: center;
+	margin-bottom: 20px;
+	}
+.leaflet-popup-content-wrapper {
+	padding: 1px;
+	text-align: left;
+	border-radius: 12px;
+	}
+.leaflet-popup-content {
+	margin: 13px 24px 13px 20px;
+	line-height: 1.3;
+	font-size: 13px;
+	font-size: 1.08333em;
+	min-height: 1px;
+	}
+.leaflet-popup-content p {
+	margin: 17px 0;
+	margin: 1.3em 0;
+	}
+.leaflet-popup-tip-container {
+	width: 40px;
+	height: 20px;
+	position: absolute;
+	left: 50%;
+	margin-top: -1px;
+	margin-left: -20px;
+	overflow: hidden;
+	pointer-events: none;
+	}
+.leaflet-popup-tip {
+	width: 17px;
+	height: 17px;
+	padding: 1px;
+
+	margin: -10px auto 0;
+	pointer-events: auto;
+
+	-webkit-transform: rotate(45deg);
+	   -moz-transform: rotate(45deg);
+	    -ms-transform: rotate(45deg);
+	        transform: rotate(45deg);
+	}
+.leaflet-popup-content-wrapper,
+.leaflet-popup-tip {
+	background: white;
+	color: #333;
+	box-shadow: 0 3px 14px rgba(0,0,0,0.4);
+	}
+.leaflet-container a.leaflet-popup-close-button {
+	position: absolute;
+	top: 0;
+	right: 0;
+	border: none;
+	text-align: center;
+	width: 24px;
+	height: 24px;
+	font: 16px/24px Tahoma, Verdana, sans-serif;
+	color: #757575;
+	text-decoration: none;
+	background: transparent;
+	}
+.leaflet-container a.leaflet-popup-close-button:hover,
+.leaflet-container a.leaflet-popup-close-button:focus {
+	color: #585858;
+	}
+.leaflet-popup-scrolled {
+	overflow: auto;
+	}
+
+.leaflet-oldie .leaflet-popup-content-wrapper {
+	-ms-zoom: 1;
+	}
+.leaflet-oldie .leaflet-popup-tip {
+	width: 24px;
+	margin: 0 auto;
+
+	-ms-filter: "progid:DXImageTransform.Microsoft.Matrix(M11=0.70710678, M12=0.70710678, M21=-0.70710678, M22=0.70710678)";
+	filter: progid:DXImageTransform.Microsoft.Matrix(M11=0.70710678, M12=0.70710678, M21=-0.70710678, M22=0.70710678);
+	}
+
+.leaflet-oldie .leaflet-control-zoom,
+.leaflet-oldie .leaflet-control-layers,
+.leaflet-oldie .leaflet-popup-content-wrapper,
+.leaflet-oldie .leaflet-popup-tip {
+	border: 1px solid #999;
+	}
+
+
+/* div icon */
+
+.leaflet-div-icon {
+	background: #fff;
+	border: 1px solid #666;
+	}
+
+
+/* Tooltip */
+/* Base styles for the element that has a tooltip */
+.leaflet-tooltip {
+	position: absolute;
+	padding: 6px;
+	background-color: #fff;
+	border: 1px solid #fff;
+	border-radius: 3px;
+	color: #222;
+	white-space: nowrap;
+	-webkit-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+	pointer-events: none;
+	box-shadow: 0 1px 3px rgba(0,0,0,0.4);
+	}
+.leaflet-tooltip.leaflet-interactive {
+	cursor: pointer;
+	pointer-events: auto;
+	}
+.leaflet-tooltip-top:before,
+.leaflet-tooltip-bottom:before,
+.leaflet-tooltip-left:before,
+.leaflet-tooltip-right:before {
+	position: absolute;
+	pointer-events: none;
+	border: 6px solid transparent;
+	background: transparent;
+	content: "";
+	}
+
+/* Directions */
+
+.leaflet-tooltip-bottom {
+	margin-top: 6px;
+}
+.leaflet-tooltip-top {
+	margin-top: -6px;
+}
+.leaflet-tooltip-bottom:before,
+.leaflet-tooltip-top:before {
+	left: 50%;
+	margin-left: -6px;
+	}
+.leaflet-tooltip-top:before {
+	bottom: 0;
+	margin-bottom: -12px;
+	border-top-color: #fff;
+	}
+.leaflet-tooltip-bottom:before {
+	top: 0;
+	margin-top: -12px;
+	margin-left: -6px;
+	border-bottom-color: #fff;
+	}
+.leaflet-tooltip-left {
+	margin-left: -6px;
+}
+.leaflet-tooltip-right {
+	margin-left: 6px;
+}
+.leaflet-tooltip-left:before,
+.leaflet-tooltip-right:before {
+	top: 50%;
+	margin-top: -6px;
+	}
+.leaflet-tooltip-left:before {
+	right: 0;
+	margin-right: -12px;
+	border-left-color: #fff;
+	}
+.leaflet-tooltip-right:before {
+	left: 0;
+	margin-left: -12px;
+	border-right-color: #fff;
+	}
+
+/* Printing */
+	
+@media print {
+	/* Prevent printers from removing background-images of controls. */
+	.leaflet-control {
+		-webkit-print-color-adjust: exact;
+		print-color-adjust: exact;
+		}
+	}
diff --git a/Basestation_Software.Web/wwwroot/leaflet.js b/Basestation_Software.Web/wwwroot/leaflet.js
new file mode 100644
index 0000000..047bfe7
--- /dev/null
+++ b/Basestation_Software.Web/wwwroot/leaflet.js
@@ -0,0 +1,6 @@
+/* @preserve
+ * Leaflet 1.9.3, a JS library for interactive maps. https://leafletjs.com
+ * (c) 2010-2022 Vladimir Agafonkin, (c) 2010-2011 CloudMade
+ */
+!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?e(exports):"function"==typeof define&&define.amd?define(["exports"],e):e((t="undefined"!=typeof globalThis?globalThis:t||self).leaflet={})}(this,function(t){"use strict";function l(t){for(var e,i,n=1,o=arguments.length;n<o;n++)for(e in i=arguments[n])t[e]=i[e];return t}var R=Object.create||function(t){return N.prototype=t,new N};function N(){}function a(t,e){var i,n=Array.prototype.slice;return t.bind?t.bind.apply(t,n.call(arguments,1)):(i=n.call(arguments,2),function(){return t.apply(e,i.length?i.concat(n.call(arguments)):arguments)})}var D=0;function h(t){return"_leaflet_id"in t||(t._leaflet_id=++D),t._leaflet_id}function j(t,e,i){var n,o,s=function(){n=!1,o&&(r.apply(i,o),o=!1)},r=function(){n?o=arguments:(t.apply(i,arguments),setTimeout(s,e),n=!0)};return r}function H(t,e,i){var n=e[1],e=e[0],o=n-e;return t===n&&i?t:((t-e)%o+o)%o+e}function u(){return!1}function i(t,e){return!1===e?t:(e=Math.pow(10,void 0===e?6:e),Math.round(t*e)/e)}function F(t){return t.trim?t.trim():t.replace(/^\s+|\s+$/g,"")}function W(t){return F(t).split(/\s+/)}function c(t,e){for(var i in Object.prototype.hasOwnProperty.call(t,"options")||(t.options=t.options?R(t.options):{}),e)t.options[i]=e[i];return t.options}function U(t,e,i){var n,o=[];for(n in t)o.push(encodeURIComponent(i?n.toUpperCase():n)+"="+encodeURIComponent(t[n]));return(e&&-1!==e.indexOf("?")?"&":"?")+o.join("&")}var V=/\{ *([\w_ -]+) *\}/g;function q(t,i){return t.replace(V,function(t,e){e=i[e];if(void 0===e)throw new Error("No value provided for variable "+t);return e="function"==typeof e?e(i):e})}var d=Array.isArray||function(t){return"[object Array]"===Object.prototype.toString.call(t)};function G(t,e){for(var i=0;i<t.length;i++)if(t[i]===e)return i;return-1}var K="data:image/gif;base64,R0lGODlhAQABAAD/ACwAAAAAAQABAAACADs=";function Y(t){return window["webkit"+t]||window["moz"+t]||window["ms"+t]}var X=0;function J(t){var e=+new Date,i=Math.max(0,16-(e-X));return X=e+i,window.setTimeout(t,i)}var $=window.requestAnimationFrame||Y("RequestAnimationFrame")||J,Q=window.cancelAnimationFrame||Y("CancelAnimationFrame")||Y("CancelRequestAnimationFrame")||function(t){window.clearTimeout(t)};function x(t,e,i){if(!i||$!==J)return $.call(window,a(t,e));t.call(e)}function r(t){t&&Q.call(window,t)}var tt={__proto__:null,extend:l,create:R,bind:a,get lastId(){return D},stamp:h,throttle:j,wrapNum:H,falseFn:u,formatNum:i,trim:F,splitWords:W,setOptions:c,getParamString:U,template:q,isArray:d,indexOf:G,emptyImageUrl:K,requestFn:$,cancelFn:Q,requestAnimFrame:x,cancelAnimFrame:r};function et(){}et.extend=function(t){function e(){c(this),this.initialize&&this.initialize.apply(this,arguments),this.callInitHooks()}var i,n=e.__super__=this.prototype,o=R(n);for(i in(o.constructor=e).prototype=o,this)Object.prototype.hasOwnProperty.call(this,i)&&"prototype"!==i&&"__super__"!==i&&(e[i]=this[i]);if(t.statics&&l(e,t.statics),t.includes){var 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0!==this._locationWatchId&&this.stopLocate(),this._stop(),T(this._mapPane),this._clearControlPos&&this._clearControlPos(),this._resizeRequest&&(r(this._resizeRequest),this._resizeRequest=null),this._clearHandlers(),this._loaded&&this.fire("unload"),this._layers)this._layers[t].remove();for(t in this._panes)T(this._panes[t]);return this._layers=[],this._panes=[],delete this._mapPane,delete this._renderer,this},createPane:function(t,e){e=P("div","leaflet-pane"+(t?" leaflet-"+t.replace("Pane","")+"-pane":""),e||this._mapPane);return t&&(this._panes[t]=e),e},getCenter:function(){return this._checkIfLoaded(),this._lastCenter&&!this._moved()?this._lastCenter.clone():this.layerPointToLatLng(this._getCenterLayerPoint())},getZoom:function(){return this._zoom},getBounds:function(){var t=this.getPixelBounds();return new s(this.unproject(t.getBottomLeft()),this.unproject(t.getTopRight()))},getMinZoom:function(){return void 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this._checkIfLoaded(),this._pixelOrigin},getPixelWorldBounds:function(t){return this.options.crs.getProjectedBounds(void 0===t?this.getZoom():t)},getPane:function(t){return"string"==typeof t?this._panes[t]:t},getPanes:function(){return this._panes},getContainer:function(){return this._container},getZoomScale:function(t,e){var i=this.options.crs;return e=void 0===e?this._zoom:e,i.scale(t)/i.scale(e)},getScaleZoom:function(t,e){var i=this.options.crs,t=(e=void 0===e?this._zoom:e,i.zoom(t*i.scale(e)));return isNaN(t)?1/0:t},project:function(t,e){return e=void 0===e?this._zoom:e,this.options.crs.latLngToPoint(w(t),e)},unproject:function(t,e){return e=void 0===e?this._zoom:e,this.options.crs.pointToLatLng(m(t),e)},layerPointToLatLng:function(t){t=m(t).add(this.getPixelOrigin());return this.unproject(t)},latLngToLayerPoint:function(t){return this.project(w(t))._round()._subtract(this.getPixelOrigin())},wrapLatLng:function(t){return this.options.crs.wrapLatLng(w(t))},wrapLatLngBounds:function(t){return this.options.crs.wrapLatLngBounds(g(t))},distance:function(t,e){return this.options.crs.distance(w(t),w(e))},containerPointToLayerPoint:function(t){return m(t).subtract(this._getMapPanePos())},layerPointToContainerPoint:function(t){return m(t).add(this._getMapPanePos())},containerPointToLatLng:function(t){t=this.containerPointToLayerPoint(m(t));return this.layerPointToLatLng(t)},latLngToContainerPoint:function(t){return this.layerPointToContainerPoint(this.latLngToLayerPoint(w(t)))},mouseEventToContainerPoint:function(t){return De(t,this._container)},mouseEventToLayerPoint:function(t){return this.containerPointToLayerPoint(this.mouseEventToContainerPoint(t))},mouseEventToLatLng:function(t){return this.layerPointToLatLng(this.mouseEventToLayerPoint(t))},_initContainer:function(t){t=this._container=_e(t);if(!t)throw new Error("Map container not found.");if(t._leaflet_id)throw new Error("Map container is already initialized.");S(t,"scroll",this._onScroll,this),this._containerId=h(t)},_initLayout:function(){var t=this._container,e=(this._fadeAnimated=this.options.fadeAnimation&&b.any3d,M(t,"leaflet-container"+(b.touch?" leaflet-touch":"")+(b.retina?" leaflet-retina":"")+(b.ielt9?" leaflet-oldie":"")+(b.safari?" leaflet-safari":"")+(this._fadeAnimated?" leaflet-fade-anim":"")),pe(t,"position"));"absolute"!==e&&"relative"!==e&&"fixed"!==e&&"sticky"!==e&&(t.style.position="relative"),this._initPanes(),this._initControlPos&&this._initControlPos()},_initPanes:function(){var t=this._panes={};this._paneRenderers={},this._mapPane=this.createPane("mapPane",this._container),Z(this._mapPane,new p(0,0)),this.createPane("tilePane"),this.createPane("overlayPane"),this.createPane("shadowPane"),this.createPane("markerPane"),this.createPane("tooltipPane"),this.createPane("popupPane"),this.options.markerZoomAnimation||(M(t.markerPane,"leaflet-zoom-hide"),M(t.shadowPane,"leaflet-zoom-hide"))},_resetView:function(t,e,i){Z(this._mapPane,new p(0,0));var n=!this._loaded,o=(this._loaded=!0,e=this._limitZoom(e),this.fire("viewprereset"),this._zoom!==e);this._moveStart(o,i)._move(t,e)._moveEnd(o),this.fire("viewreset"),n&&this.fire("load")},_moveStart:function(t,e){return t&&this.fire("zoomstart"),e||this.fire("movestart"),this},_move:function(t,e,i,n){void 0===e&&(e=this._zoom);var o=this._zoom!==e;return this._zoom=e,this._lastCenter=t,this._pixelOrigin=this._getNewPixelOrigin(t),n?i&&i.pinch&&this.fire("zoom",i):((o||i&&i.pinch)&&this.fire("zoom",i),this.fire("move",i)),this},_moveEnd:function(t){return t&&this.fire("zoomend"),this.fire("moveend")},_stop:function(){return r(this._flyToFrame),this._panAnim&&this._panAnim.stop(),this},_rawPanBy:function(t){Z(this._mapPane,this._getMapPanePos().subtract(t))},_getZoomSpan:function(){return this.getMaxZoom()-this.getMinZoom()},_panInsideMaxBounds:function(){this._enforcingBounds||this.panInsideBounds(this.options.maxBounds)},_checkIfLoaded:function(){if(!this._loaded)throw new Error("Set map center and zoom first.")},_initEvents:function(t){this._targets={};var e=t?k:S;e((this._targets[h(this._container)]=this)._container,"click dblclick mousedown mouseup mouseover mouseout mousemove contextmenu keypress keydown keyup",this._handleDOMEvent,this),this.options.trackResize&&e(window,"resize",this._onResize,this),b.any3d&&this.options.transform3DLimit&&(t?this.off:this.on).call(this,"moveend",this._onMoveEnd)},_onResize:function(){r(this._resizeRequest),this._resizeRequest=x(function(){this.invalidateSize({debounceMoveend:!0})},this)},_onScroll:function(){this._container.scrollTop=0,this._container.scrollLeft=0},_onMoveEnd:function(){var t=this._getMapPanePos();Math.max(Math.abs(t.x),Math.abs(t.y))>=this.options.transform3DLimit&&this._resetView(this.getCenter(),this.getZoom())},_findEventTargets:function(t,e){for(var i,n=[],o="mouseout"===e||"mouseover"===e,s=t.target||t.srcElement,r=!1;s;){if((i=this._targets[h(s)])&&("click"===e||"preclick"===e)&&this._draggableMoved(i)){r=!0;break}if(i&&i.listens(e,!0)){if(o&&!Fe(s,t))break;if(n.push(i),o)break}if(s===this._container)break;s=s.parentNode}return n=n.length||r||o||!this.listens(e,!0)?n:[this]},_isClickDisabled:function(t){for(;t&&t!==this._container;){if(t._leaflet_disable_click)return!0;t=t.parentNode}},_handleDOMEvent:function(t){var e,i=t.target||t.srcElement;!this._loaded||i._leaflet_disable_events||"click"===t.type&&this._isClickDisabled(i)||("mousedown"===(e=t.type)&&Me(i),this._fireDOMEvent(t,e))},_mouseEvents:["click","dblclick","mouseover","mouseout","contextmenu"],_fireDOMEvent:function(t,e,i){"click"===t.type&&((a=l({},t)).type="preclick",this._fireDOMEvent(a,a.type,i));var n=this._findEventTargets(t,e);if(i){for(var o=[],s=0;s<i.length;s++)i[s].listens(e,!0)&&o.push(i[s]);n=o.concat(n)}if(n.length){"contextmenu"===e&&O(t);var r,a=n[0],h={originalEvent:t};for("keypress"!==t.type&&"keydown"!==t.type&&"keyup"!==t.type&&(r=a.getLatLng&&(!a._radius||a._radius<=10),h.containerPoint=r?this.latLngToContainerPoint(a.getLatLng()):this.mouseEventToContainerPoint(t),h.layerPoint=this.containerPointToLayerPoint(h.containerPoint),h.latlng=r?a.getLatLng():this.layerPointToLatLng(h.layerPoint)),s=0;s<n.length;s++)if(n[s].fire(e,h,!0),h.originalEvent._stopped||!1===n[s].options.bubblingMouseEvents&&-1!==G(this._mouseEvents,e))return}},_draggableMoved:function(t){return(t=t.dragging&&t.dragging.enabled()?t:this).dragging&&t.dragging.moved()||this.boxZoom&&this.boxZoom.moved()},_clearHandlers:function(){for(var t=0,e=this._handlers.length;t<e;t++)this._handlers[t].disable()},whenReady:function(t,e){return this._loaded?t.call(e||this,{target:this}):this.on("load",t,e),this},_getMapPanePos:function(){return Pe(this._mapPane)||new p(0,0)},_moved:function(){var t=this._getMapPanePos();return t&&!t.equals([0,0])},_getTopLeftPoint:function(t,e){return(t&&void 0!==e?this._getNewPixelOrigin(t,e):this.getPixelOrigin()).subtract(this._getMapPanePos())},_getNewPixelOrigin:function(t,e){var i=this.getSize()._divideBy(2);return this.project(t,e)._subtract(i)._add(this._getMapPanePos())._round()},_latLngToNewLayerPoint:function(t,e,i){i=this._getNewPixelOrigin(i,e);return this.project(t,e)._subtract(i)},_latLngBoundsToNewLayerBounds:function(t,e,i){i=this._getNewPixelOrigin(i,e);return _([this.project(t.getSouthWest(),e)._subtract(i),this.project(t.getNorthWest(),e)._subtract(i),this.project(t.getSouthEast(),e)._subtract(i),this.project(t.getNorthEast(),e)._subtract(i)])},_getCenterLayerPoint:function(){return this.containerPointToLayerPoint(this.getSize()._divideBy(2))},_getCenterOffset:function(t){return this.latLngToLayerPoint(t).subtract(this._getCenterLayerPoint())},_limitCenter:function(t,e,i){var n,o;return!i||(n=this.project(t,e),o=this.getSize().divideBy(2),o=new f(n.subtract(o),n.add(o)),o=this._getBoundsOffset(o,i,e),Math.abs(o.x)<=1&&Math.abs(o.y)<=1)?t:this.unproject(n.add(o),e)},_limitOffset:function(t,e){var i;return e?(i=new f((i=this.getPixelBounds()).min.add(t),i.max.add(t)),t.add(this._getBoundsOffset(i,e))):t},_getBoundsOffset:function(t,e,i){e=_(this.project(e.getNorthEast(),i),this.project(e.getSouthWest(),i)),i=e.min.subtract(t.min),e=e.max.subtract(t.max);return new p(this._rebound(i.x,-e.x),this._rebound(i.y,-e.y))},_rebound:function(t,e){return 0<t+e?Math.round(t-e)/2:Math.max(0,Math.ceil(t))-Math.max(0,Math.floor(e))},_limitZoom:function(t){var e=this.getMinZoom(),i=this.getMaxZoom(),n=b.any3d?this.options.zoomSnap:1;return n&&(t=Math.round(t/n)*n),Math.max(e,Math.min(i,t))},_onPanTransitionStep:function(){this.fire("move")},_onPanTransitionEnd:function(){z(this._mapPane,"leaflet-pan-anim"),this.fire("moveend")},_tryAnimatedPan:function(t,e){t=this._getCenterOffset(t)._trunc();return!(!0!==(e&&e.animate)&&!this.getSize().contains(t))&&(this.panBy(t,e),!0)},_createAnimProxy:function(){var t=this._proxy=P("div","leaflet-proxy leaflet-zoom-animated");this._panes.mapPane.appendChild(t),this.on("zoomanim",function(t){var e=ue,i=this._proxy.style[e];be(this._proxy,this.project(t.center,t.zoom),this.getZoomScale(t.zoom,1)),i===this._proxy.style[e]&&this._animatingZoom&&this._onZoomTransitionEnd()},this),this.on("load moveend",this._animMoveEnd,this),this._on("unload",this._destroyAnimProxy,this)},_destroyAnimProxy:function(){T(this._proxy),this.off("load moveend",this._animMoveEnd,this),delete this._proxy},_animMoveEnd:function(){var t=this.getCenter(),e=this.getZoom();be(this._proxy,this.project(t,e),this.getZoomScale(e,1))},_catchTransitionEnd:function(t){this._animatingZoom&&0<=t.propertyName.indexOf("transform")&&this._onZoomTransitionEnd()},_nothingToAnimate:function(){return!this._container.getElementsByClassName("leaflet-zoom-animated").length},_tryAnimatedZoom:function(t,e,i){if(!this._animatingZoom){if(i=i||{},!this._zoomAnimated||!1===i.animate||this._nothingToAnimate()||Math.abs(e-this._zoom)>this.options.zoomAnimationThreshold)return!1;var n=this.getZoomScale(e),n=this._getCenterOffset(t)._divideBy(1-1/n);if(!0!==i.animate&&!this.getSize().contains(n))return!1;x(function(){this._moveStart(!0,!1)._animateZoom(t,e,!0)},this)}return!0},_animateZoom:function(t,e,i,n){this._mapPane&&(i&&(this._animatingZoom=!0,this._animateToCenter=t,this._animateToZoom=e,M(this._mapPane,"leaflet-zoom-anim")),this.fire("zoomanim",{center:t,zoom:e,noUpdate:n}),this._tempFireZoomEvent||(this._tempFireZoomEvent=this._zoom!==this._animateToZoom),this._move(this._animateToCenter,this._animateToZoom,void 0,!0),setTimeout(a(this._onZoomTransitionEnd,this),250))},_onZoomTransitionEnd:function(){this._animatingZoom&&(this._mapPane&&z(this._mapPane,"leaflet-zoom-anim"),this._animatingZoom=!1,this._move(this._animateToCenter,this._animateToZoom,void 0,!0),this._tempFireZoomEvent&&this.fire("zoom"),delete this._tempFireZoomEvent,this.fire("move"),this._moveEnd(!0))}});function Ue(t){return new B(t)}var Ve,B=et.extend({options:{position:"topright"},initialize:function(t){c(this,t)},getPosition:function(){return this.options.position},setPosition:function(t){var e=this._map;return e&&e.removeControl(this),this.options.position=t,e&&e.addControl(this),this},getContainer:function(){return this._container},addTo:function(t){this.remove(),this._map=t;var e=this._container=this.onAdd(t),i=this.getPosition(),t=t._controlCorners[i];return M(e,"leaflet-control"),-1!==i.indexOf("bottom")?t.insertBefore(e,t.firstChild):t.appendChild(e),this._map.on("unload",this.remove,this),this},remove:function(){return this._map&&(T(this._container),this.onRemove&&this.onRemove(this._map),this._map.off("unload",this.remove,this),this._map=null),this},_refocusOnMap:function(t){this._map&&t&&0<t.screenX&&0<t.screenY&&this._map.getContainer().focus()}}),qe=(A.include({addControl:function(t){return t.addTo(this),this},removeControl:function(t){return t.remove(),this},_initControlPos:function(){var i=this._controlCorners={},n="leaflet-",o=this._controlContainer=P("div",n+"control-container",this._container);function t(t,e){i[t+e]=P("div",n+t+" "+n+e,o)}t("top","left"),t("top","right"),t("bottom","left"),t("bottom","right")},_clearControlPos:function(){for(var t in this._controlCorners)T(this._controlCorners[t]);T(this._controlContainer),delete this._controlCorners,delete this._controlContainer}}),B.extend({options:{collapsed:!0,position:"topright",autoZIndex:!0,hideSingleBase:!1,sortLayers:!1,sortFunction:function(t,e,i,n){return i<n?-1:n<i?1:0}},initialize:function(t,e,i){for(var n in c(this,i),this._layerControlInputs=[],this._layers=[],this._lastZIndex=0,this._handlingClick=!1,t)this._addLayer(t[n],n);for(n in e)this._addLayer(e[n],n,!0)},onAdd:function(t){this._initLayout(),this._update(),(this._map=t).on("zoomend",this._checkDisabledLayers,this);for(var e=0;e<this._layers.length;e++)this._layers[e].layer.on("add remove",this._onLayerChange,this);return this._container},addTo:function(t){return B.prototype.addTo.call(this,t),this._expandIfNotCollapsed()},onRemove:function(){this._map.off("zoomend",this._checkDisabledLayers,this);for(var t=0;t<this._layers.length;t++)this._layers[t].layer.off("add remove",this._onLayerChange,this)},addBaseLayer:function(t,e){return this._addLayer(t,e),this._map?this._update():this},addOverlay:function(t,e){return this._addLayer(t,e,!0),this._map?this._update():this},removeLayer:function(t){t.off("add remove",this._onLayerChange,this);t=this._getLayer(h(t));return t&&this._layers.splice(this._layers.indexOf(t),1),this._map?this._update():this},expand:function(){M(this._container,"leaflet-control-layers-expanded"),this._section.style.height=null;var t=this._map.getSize().y-(this._container.offsetTop+50);return t<this._section.clientHeight?(M(this._section,"leaflet-control-layers-scrollbar"),this._section.style.height=t+"px"):z(this._section,"leaflet-control-layers-scrollbar"),this._checkDisabledLayers(),this},collapse:function(){return z(this._container,"leaflet-control-layers-expanded"),this},_initLayout:function(){var t="leaflet-control-layers",e=this._container=P("div",t),i=this.options.collapsed,n=(e.setAttribute("aria-haspopup",!0),Ie(e),Be(e),this._section=P("section",t+"-list")),o=(i&&(this._map.on("click",this.collapse,this),S(e,{mouseenter:this._expandSafely,mouseleave:this.collapse},this)),this._layersLink=P("a",t+"-toggle",e));o.href="#",o.title="Layers",o.setAttribute("role","button"),S(o,{keydown:function(t){13===t.keyCode&&this._expandSafely()},click:function(t){O(t),this._expandSafely()}},this),i||this.expand(),this._baseLayersList=P("div",t+"-base",n),this._separator=P("div",t+"-separator",n),this._overlaysList=P("div",t+"-overlays",n),e.appendChild(n)},_getLayer:function(t){for(var e=0;e<this._layers.length;e++)if(this._layers[e]&&h(this._layers[e].layer)===t)return this._layers[e]},_addLayer:function(t,e,i){this._map&&t.on("add remove",this._onLayerChange,this),this._layers.push({layer:t,name:e,overlay:i}),this.options.sortLayers&&this._layers.sort(a(function(t,e){return this.options.sortFunction(t.layer,e.layer,t.name,e.name)},this)),this.options.autoZIndex&&t.setZIndex&&(this._lastZIndex++,t.setZIndex(this._lastZIndex)),this._expandIfNotCollapsed()},_update:function(){if(this._container){me(this._baseLayersList),me(this._overlaysList),this._layerControlInputs=[];for(var t,e,i,n=0,o=0;o<this._layers.length;o++)i=this._layers[o],this._addItem(i),e=e||i.overlay,t=t||!i.overlay,n+=i.overlay?0:1;this.options.hideSingleBase&&(this._baseLayersList.style.display=(t=t&&1<n)?"":"none"),this._separator.style.display=e&&t?"":"none"}return this},_onLayerChange:function(t){this._handlingClick||this._update();var e=this._getLayer(h(t.target)),t=e.overlay?"add"===t.type?"overlayadd":"overlayremove":"add"===t.type?"baselayerchange":null;t&&this._map.fire(t,e)},_createRadioElement:function(t,e){t='<input type="radio" class="leaflet-control-layers-selector" name="'+t+'"'+(e?' checked="checked"':"")+"/>",e=document.createElement("div");return e.innerHTML=t,e.firstChild},_addItem:function(t){var e,i=document.createElement("label"),n=this._map.hasLayer(t.layer),n=(t.overlay?((e=document.createElement("input")).type="checkbox",e.className="leaflet-control-layers-selector",e.defaultChecked=n):e=this._createRadioElement("leaflet-base-layers_"+h(this),n),this._layerControlInputs.push(e),e.layerId=h(t.layer),S(e,"click",this._onInputClick,this),document.createElement("span")),o=(n.innerHTML=" "+t.name,document.createElement("span"));return i.appendChild(o),o.appendChild(e),o.appendChild(n),(t.overlay?this._overlaysList:this._baseLayersList).appendChild(i),this._checkDisabledLayers(),i},_onInputClick:function(){var t,e,i=this._layerControlInputs,n=[],o=[];this._handlingClick=!0;for(var s=i.length-1;0<=s;s--)t=i[s],e=this._getLayer(t.layerId).layer,t.checked?n.push(e):t.checked||o.push(e);for(s=0;s<o.length;s++)this._map.hasLayer(o[s])&&this._map.removeLayer(o[s]);for(s=0;s<n.length;s++)this._map.hasLayer(n[s])||this._map.addLayer(n[s]);this._handlingClick=!1,this._refocusOnMap()},_checkDisabledLayers:function(){for(var t,e,i=this._layerControlInputs,n=this._map.getZoom(),o=i.length-1;0<=o;o--)t=i[o],e=this._getLayer(t.layerId).layer,t.disabled=void 0!==e.options.minZoom&&n<e.options.minZoom||void 0!==e.options.maxZoom&&n>e.options.maxZoom},_expandIfNotCollapsed:function(){return this._map&&!this.options.collapsed&&this.expand(),this},_expandSafely:function(){var t=this._section;S(t,"click",O),this.expand(),setTimeout(function(){k(t,"click",O)})}})),Ge=B.extend({options:{position:"topleft",zoomInText:'<span aria-hidden="true">+</span>',zoomInTitle:"Zoom in",zoomOutText:'<span aria-hidden="true">&#x2212;</span>',zoomOutTitle:"Zoom out"},onAdd:function(t){var e="leaflet-control-zoom",i=P("div",e+" leaflet-bar"),n=this.options;return this._zoomInButton=this._createButton(n.zoomInText,n.zoomInTitle,e+"-in",i,this._zoomIn),this._zoomOutButton=this._createButton(n.zoomOutText,n.zoomOutTitle,e+"-out",i,this._zoomOut),this._updateDisabled(),t.on("zoomend zoomlevelschange",this._updateDisabled,this),i},onRemove:function(t){t.off("zoomend zoomlevelschange",this._updateDisabled,this)},disable:function(){return this._disabled=!0,this._updateDisabled(),this},enable:function(){return this._disabled=!1,this._updateDisabled(),this},_zoomIn:function(t){!this._disabled&&this._map._zoom<this._map.getMaxZoom()&&this._map.zoomIn(this._map.options.zoomDelta*(t.shiftKey?3:1))},_zoomOut:function(t){!this._disabled&&this._map._zoom>this._map.getMinZoom()&&this._map.zoomOut(this._map.options.zoomDelta*(t.shiftKey?3:1))},_createButton:function(t,e,i,n,o){i=P("a",i,n);return i.innerHTML=t,i.href="#",i.title=e,i.setAttribute("role","button"),i.setAttribute("aria-label",e),Ie(i),S(i,"click",Re),S(i,"click",o,this),S(i,"click",this._refocusOnMap,this),i},_updateDisabled:function(){var t=this._map,e="leaflet-disabled";z(this._zoomInButton,e),z(this._zoomOutButton,e),this._zoomInButton.setAttribute("aria-disabled","false"),this._zoomOutButton.setAttribute("aria-disabled","false"),!this._disabled&&t._zoom!==t.getMinZoom()||(M(this._zoomOutButton,e),this._zoomOutButton.setAttribute("aria-disabled","true")),!this._disabled&&t._zoom!==t.getMaxZoom()||(M(this._zoomInButton,e),this._zoomInButton.setAttribute("aria-disabled","true"))}}),Ke=(A.mergeOptions({zoomControl:!0}),A.addInitHook(function(){this.options.zoomControl&&(this.zoomControl=new Ge,this.addControl(this.zoomControl))}),B.extend({options:{position:"bottomleft",maxWidth:100,metric:!0,imperial:!0},onAdd:function(t){var e="leaflet-control-scale",i=P("div",e),n=this.options;return this._addScales(n,e+"-line",i),t.on(n.updateWhenIdle?"moveend":"move",this._update,this),t.whenReady(this._update,this),i},onRemove:function(t){t.off(this.options.updateWhenIdle?"moveend":"move",this._update,this)},_addScales:function(t,e,i){t.metric&&(this._mScale=P("div",e,i)),t.imperial&&(this._iScale=P("div",e,i))},_update:function(){var t=this._map,e=t.getSize().y/2,t=t.distance(t.containerPointToLatLng([0,e]),t.containerPointToLatLng([this.options.maxWidth,e]));this._updateScales(t)},_updateScales:function(t){this.options.metric&&t&&this._updateMetric(t),this.options.imperial&&t&&this._updateImperial(t)},_updateMetric:function(t){var e=this._getRoundNum(t);this._updateScale(this._mScale,e<1e3?e+" m":e/1e3+" km",e/t)},_updateImperial:function(t){var e,i,t=3.2808399*t;5280<t?(i=this._getRoundNum(e=t/5280),this._updateScale(this._iScale,i+" mi",i/e)):(i=this._getRoundNum(t),this._updateScale(this._iScale,i+" ft",i/t))},_updateScale:function(t,e,i){t.style.width=Math.round(this.options.maxWidth*i)+"px",t.innerHTML=e},_getRoundNum:function(t){var e=Math.pow(10,(Math.floor(t)+"").length-1),t=t/e;return e*(t=10<=t?10:5<=t?5:3<=t?3:2<=t?2:1)}})),Ye=B.extend({options:{position:"bottomright",prefix:'<a href="https://leafletjs.com" title="A JavaScript library for interactive maps">'+(b.inlineSvg?'<svg aria-hidden="true" xmlns="http://www.w3.org/2000/svg" width="12" height="8" viewBox="0 0 12 8" class="leaflet-attribution-flag"><path fill="#4C7BE1" d="M0 0h12v4H0z"/><path fill="#FFD500" d="M0 4h12v3H0z"/><path fill="#E0BC00" d="M0 7h12v1H0z"/></svg> ':"")+"Leaflet</a>"},initialize:function(t){c(this,t),this._attributions={}},onAdd:function(t){for(var e in(t.attributionControl=this)._container=P("div","leaflet-control-attribution"),Ie(this._container),t._layers)t._layers[e].getAttribution&&this.addAttribution(t._layers[e].getAttribution());return this._update(),t.on("layeradd",this._addAttribution,this),this._container},onRemove:function(t){t.off("layeradd",this._addAttribution,this)},_addAttribution:function(t){t.layer.getAttribution&&(this.addAttribution(t.layer.getAttribution()),t.layer.once("remove",function(){this.removeAttribution(t.layer.getAttribution())},this))},setPrefix:function(t){return this.options.prefix=t,this._update(),this},addAttribution:function(t){return t&&(this._attributions[t]||(this._attributions[t]=0),this._attributions[t]++,this._update()),this},removeAttribution:function(t){return t&&this._attributions[t]&&(this._attributions[t]--,this._update()),this},_update:function(){if(this._map){var t,e=[];for(t in this._attributions)this._attributions[t]&&e.push(t);var i=[];this.options.prefix&&i.push(this.options.prefix),e.length&&i.push(e.join(", ")),this._container.innerHTML=i.join(' <span aria-hidden="true">|</span> ')}}}),n=(A.mergeOptions({attributionControl:!0}),A.addInitHook(function(){this.options.attributionControl&&(new Ye).addTo(this)}),B.Layers=qe,B.Zoom=Ge,B.Scale=Ke,B.Attribution=Ye,Ue.layers=function(t,e,i){return new qe(t,e,i)},Ue.zoom=function(t){return new Ge(t)},Ue.scale=function(t){return new Ke(t)},Ue.attribution=function(t){return new Ye(t)},et.extend({initialize:function(t){this._map=t},enable:function(){return this._enabled||(this._enabled=!0,this.addHooks()),this},disable:function(){return this._enabled&&(this._enabled=!1,this.removeHooks()),this},enabled:function(){return!!this._enabled}})),ft=(n.addTo=function(t,e){return t.addHandler(e,this),this},{Events:e}),Xe=b.touch?"touchstart 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t={originalEvent:this._lastEvent};this.fire("predrag",t),Z(this._element,this._newPos),this.fire("drag",t)},_onUp:function(){this._enabled&&this.finishDrag()},finishDrag:function(t){z(document.body,"leaflet-dragging"),this._lastTarget&&(z(this._lastTarget,"leaflet-drag-target"),this._lastTarget=null),k(document,"mousemove touchmove",this._onMove,this),k(document,"mouseup touchend touchcancel",this._onUp,this),Te(),ae(),this._moved&&this._moving&&this.fire("dragend",{noInertia:t,distance:this._newPos.distanceTo(this._startPos)}),this._moving=!1,Je._dragging=!1}});function $e(t,e){if(e&&t.length){var i=t=function(t,e){for(var i=[t[0]],n=1,o=0,s=t.length;n<s;n++)(function(t,e){var i=e.x-t.x,e=e.y-t.y;return i*i+e*e})(t[n],t[o])>e&&(i.push(t[n]),o=n);o<s-1&&i.push(t[s-1]);return i}(t,e=e*e),n=i.length,o=new(typeof Uint8Array!=void 0+""?Uint8Array:Array)(n);o[0]=o[n-1]=1,function t(e,i,n,o,s){var r,a,h,l=0;for(a=o+1;a<=s-1;a++)h=ni(e[a],e[o],e[s],!0),l<h&&(r=a,l=h);n<l&&(i[r]=1,t(e,i,n,o,r),t(e,i,n,r,s))}(i,o,e,0,n-1);var s,r=[];for(s=0;s<n;s++)o[s]&&r.push(i[s]);return r}return t.slice()}function Qe(t,e,i){return Math.sqrt(ni(t,e,i,!0))}function ti(t,e,i,n,o){var s,r,a,h=n?Ve:ii(t,i),l=ii(e,i);for(Ve=l;;){if(!(h|l))return[t,e];if(h&l)return!1;a=ii(r=ei(t,e,s=h||l,i,o),i),s===h?(t=r,h=a):(e=r,l=a)}}function ei(t,e,i,n,o){var s,r,a=e.x-t.x,e=e.y-t.y,h=n.min,n=n.max;return 8&i?(s=t.x+a*(n.y-t.y)/e,r=n.y):4&i?(s=t.x+a*(h.y-t.y)/e,r=h.y):2&i?(s=n.x,r=t.y+e*(n.x-t.x)/a):1&i&&(s=h.x,r=t.y+e*(h.x-t.x)/a),new p(s,r,o)}function ii(t,e){var i=0;return t.x<e.min.x?i|=1:t.x>e.max.x&&(i|=2),t.y<e.min.y?i|=4:t.y>e.max.y&&(i|=8),i}function ni(t,e,i,n){var o=e.x,e=e.y,s=i.x-o,r=i.y-e,a=s*s+r*r;return 0<a&&(1<(a=((t.x-o)*s+(t.y-e)*r)/a)?(o=i.x,e=i.y):0<a&&(o+=s*a,e+=r*a)),s=t.x-o,r=t.y-e,n?s*s+r*r:new p(o,e)}function I(t){return!d(t[0])||"object"!=typeof t[0][0]&&void 0!==t[0][0]}function 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e,i=180/Math.PI,n=this.R,o=this.R_MINOR/n,s=Math.sqrt(1-o*o),r=Math.exp(-t.y/n),a=Math.PI/2-2*Math.atan(r),h=0,l=.1;h<15&&1e-7<Math.abs(l);h++)e=s*Math.sin(a),e=Math.pow((1-e)/(1+e),s/2),a+=l=Math.PI/2-2*Math.atan(r*e)-a;return new v(a*i,t.x*i/n)}},wt={__proto__:null,LonLat:yt,Mercator:xt,SphericalMercator:rt},Pt=l({},st,{code:"EPSG:3395",projection:xt,transformation:ht(bt=.5/(Math.PI*xt.R),.5,-bt,.5)}),hi=l({},st,{code:"EPSG:4326",projection:yt,transformation:ht(1/180,1,-1/180,.5)}),Lt=l({},ot,{projection:yt,transformation:ht(1,0,-1,0),scale:function(t){return Math.pow(2,t)},zoom:function(t){return Math.log(t)/Math.LN2},distance:function(t,e){var i=e.lng-t.lng,e=e.lat-t.lat;return Math.sqrt(i*i+e*e)},infinite:!0}),o=(ot.Earth=st,ot.EPSG3395=Pt,ot.EPSG3857=lt,ot.EPSG900913=ut,ot.EPSG4326=hi,ot.Simple=Lt,it.extend({options:{pane:"overlayPane",attribution:null,bubblingMouseEvents:!0},addTo:function(t){return t.addLayer(this),this},remove:function(){return this.removeFrom(this._map||this._mapToAdd)},removeFrom:function(t){return t&&t.removeLayer(this),this},getPane:function(t){return this._map.getPane(t?this.options[t]||t:this.options.pane)},addInteractiveTarget:function(t){return this._map._targets[h(t)]=this},removeInteractiveTarget:function(t){return delete this._map._targets[h(t)],this},getAttribution:function(){return this.options.attribution},_layerAdd:function(t){var e,i=t.target;i.hasLayer(this)&&(this._map=i,this._zoomAnimated=i._zoomAnimated,this.getEvents&&(e=this.getEvents(),i.on(e,this),this.once("remove",function(){i.off(e,this)},this)),this.onAdd(i),this.fire("add"),i.fire("layeradd",{layer:this}))}})),li=(A.include({addLayer:function(t){var e;if(t._layerAdd)return e=h(t),this._layers[e]||((this._layers[e]=t)._mapToAdd=this,t.beforeAdd&&t.beforeAdd(this),this.whenReady(t._layerAdd,t)),this;throw new Error("The provided object is not a Layer.")},removeLayer:function(t){var e=h(t);return this._layers[e]&&(this._loaded&&t.onRemove(this),delete this._layers[e],this._loaded&&(this.fire("layerremove",{layer:t}),t.fire("remove")),t._map=t._mapToAdd=null),this},hasLayer:function(t){return h(t)in this._layers},eachLayer:function(t,e){for(var i in this._layers)t.call(e,this._layers[i]);return this},_addLayers:function(t){for(var e=0,i=(t=t?d(t)?t:[t]:[]).length;e<i;e++)this.addLayer(t[e])},_addZoomLimit:function(t){isNaN(t.options.maxZoom)&&isNaN(t.options.minZoom)||(this._zoomBoundLayers[h(t)]=t,this._updateZoomLevels())},_removeZoomLimit:function(t){t=h(t);this._zoomBoundLayers[t]&&(delete this._zoomBoundLayers[t],this._updateZoomLevels())},_updateZoomLevels:function(){var t,e=1/0,i=-1/0,n=this._getZoomSpan();for(t in this._zoomBoundLayers)var o=this._zoomBoundLayers[t].options,e=void 0===o.minZoom?e:Math.min(e,o.minZoom),i=void 0===o.maxZoom?i:Math.max(i,o.maxZoom);this._layersMaxZoom=i===-1/0?void 0:i,this._layersMinZoom=e===1/0?void 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this},onAdd:function(t){this.eachLayer(t.addLayer,t)},onRemove:function(t){this.eachLayer(t.removeLayer,t)},eachLayer:function(t,e){for(var i in this._layers)t.call(e,this._layers[i]);return this},getLayer:function(t){return this._layers[t]},getLayers:function(){var t=[];return this.eachLayer(t.push,t),t},setZIndex:function(t){return this.invoke("setZIndex",t)},getLayerId:h})),ui=li.extend({addLayer:function(t){return this.hasLayer(t)?this:(t.addEventParent(this),li.prototype.addLayer.call(this,t),this.fire("layeradd",{layer:t}))},removeLayer:function(t){return this.hasLayer(t)?((t=t in this._layers?this._layers[t]:t).removeEventParent(this),li.prototype.removeLayer.call(this,t),this.fire("layerremove",{layer:t})):this},setStyle:function(t){return this.invoke("setStyle",t)},bringToFront:function(){return this.invoke("bringToFront")},bringToBack:function(){return this.invoke("bringToBack")},getBounds:function(){var t,e=new s;for(t in this._layers){var i=this._layers[t];e.extend(i.getBounds?i.getBounds():i.getLatLng())}return e}}),ci=et.extend({options:{popupAnchor:[0,0],tooltipAnchor:[0,0],crossOrigin:!1},initialize:function(t){c(this,t)},createIcon:function(t){return this._createIcon("icon",t)},createShadow:function(t){return this._createIcon("shadow",t)},_createIcon:function(t,e){var i=this._getIconUrl(t);if(i)return i=this._createImg(i,e&&"IMG"===e.tagName?e:null),this._setIconStyles(i,t),!this.options.crossOrigin&&""!==this.options.crossOrigin||(i.crossOrigin=!0===this.options.crossOrigin?"":this.options.crossOrigin),i;if("icon"===t)throw new Error("iconUrl not set in Icon options (see the docs).");return null},_setIconStyles:function(t,e){var i=this.options,n=i[e+"Size"],n=m(n="number"==typeof n?[n,n]:n),o=m("shadow"===e&&i.shadowAnchor||i.iconAnchor||n&&n.divideBy(2,!0));t.className="leaflet-marker-"+e+" 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document.body.removeChild(t),(e=this._stripUrl(e))?e:(t=document.querySelector('link[href$="leaflet.css"]'))?t.href.substring(0,t.href.length-"leaflet.css".length-1):""}}),_i=n.extend({initialize:function(t){this._marker=t},addHooks:function(){var t=this._marker._icon;this._draggable||(this._draggable=new Je(t,t,!0)),this._draggable.on({dragstart:this._onDragStart,predrag:this._onPreDrag,drag:this._onDrag,dragend:this._onDragEnd},this).enable(),M(t,"leaflet-marker-draggable")},removeHooks:function(){this._draggable.off({dragstart:this._onDragStart,predrag:this._onPreDrag,drag:this._onDrag,dragend:this._onDragEnd},this).disable(),this._marker._icon&&z(this._marker._icon,"leaflet-marker-draggable")},moved:function(){return this._draggable&&this._draggable._moved},_adjustPan:function(t){var e=this._marker,i=e._map,n=this._marker.options.autoPanSpeed,o=this._marker.options.autoPanPadding,s=Pe(e._icon),r=i.getPixelBounds(),a=i.getPixelOrigin(),a=_(r.min._subtract(a).add(o),r.max._subtract(a).subtract(o));a.contains(s)||(o=m((Math.max(a.max.x,s.x)-a.max.x)/(r.max.x-a.max.x)-(Math.min(a.min.x,s.x)-a.min.x)/(r.min.x-a.min.x),(Math.max(a.max.y,s.y)-a.max.y)/(r.max.y-a.max.y)-(Math.min(a.min.y,s.y)-a.min.y)/(r.min.y-a.min.y)).multiplyBy(n),i.panBy(o,{animate:!1}),this._draggable._newPos._add(o),this._draggable._startPos._add(o),Z(e._icon,this._draggable._newPos),this._onDrag(t),this._panRequest=x(this._adjustPan.bind(this,t)))},_onDragStart:function(){this._oldLatLng=this._marker.getLatLng(),this._marker.closePopup&&this._marker.closePopup(),this._marker.fire("movestart").fire("dragstart")},_onPreDrag:function(t){this._marker.options.autoPan&&(r(this._panRequest),this._panRequest=x(this._adjustPan.bind(this,t)))},_onDrag:function(t){var e=this._marker,i=e._shadow,n=Pe(e._icon),o=e._map.layerPointToLatLng(n);i&&Z(i,n),e._latlng=o,t.latlng=o,t.oldLatLng=this._oldLatLng,e.fire("move",t).fire("drag",t)},_onDragEnd:function(t){r(this._panRequest),delete this._oldLatLng,this._marker.fire("moveend").fire("dragend",t)}}),pi=o.extend({options:{icon:new di,interactive:!0,keyboard:!0,title:"",alt:"Marker",zIndexOffset:0,opacity:1,riseOnHover:!1,riseOffset:250,pane:"markerPane",shadowPane:"shadowPane",bubblingMouseEvents:!1,autoPanOnFocus:!0,draggable:!1,autoPan:!1,autoPanPadding:[50,50],autoPanSpeed:10},initialize:function(t,e){c(this,e),this._latlng=w(t)},onAdd:function(t){this._zoomAnimated=this._zoomAnimated&&t.options.markerZoomAnimation,this._zoomAnimated&&t.on("zoomanim",this._animateZoom,this),this._initIcon(),this.update()},onRemove:function(t){this.dragging&&this.dragging.enabled()&&(this.options.draggable=!0,this.dragging.removeHooks()),delete this.dragging,this._zoomAnimated&&t.off("zoomanim",this._animateZoom,this),this._removeIcon(),this._removeShadow()},getEvents:function(){return{zoom:this.update,viewreset:this.update}},getLatLng:function(){return this._latlng},setLatLng:function(t){var e=this._latlng;return this._latlng=w(t),this.update(),this.fire("move",{oldLatLng:e,latlng:this._latlng})},setZIndexOffset:function(t){return this.options.zIndexOffset=t,this.update()},getIcon:function(){return this.options.icon},setIcon:function(t){return this.options.icon=t,this._map&&(this._initIcon(),this.update()),this._popup&&this.bindPopup(this._popup,this._popup.options),this},getElement:function(){return this._icon},update:function(){var t;return this._icon&&this._map&&(t=this._map.latLngToLayerPoint(this._latlng).round(),this._setPos(t)),this},_initIcon:function(){var t=this.options,e="leaflet-zoom-"+(this._zoomAnimated?"animated":"hide"),i=t.icon.createIcon(this._icon),n=!1,i=(i!==this._icon&&(this._icon&&this._removeIcon(),n=!0,t.title&&(i.title=t.title),"IMG"===i.tagName&&(i.alt=t.alt||"")),M(i,e),t.keyboard&&(i.tabIndex="0",i.setAttribute("role","button")),this._icon=i,t.riseOnHover&&this.on({mouseover:this._bringToFront,mouseout:this._resetZIndex}),this.options.autoPanOnFocus&&S(i,"focus",this._panOnFocus,this),t.icon.createShadow(this._shadow)),o=!1;i!==this._shadow&&(this._removeShadow(),o=!0),i&&(M(i,e),i.alt=""),this._shadow=i,t.opacity<1&&this._updateOpacity(),n&&this.getPane().appendChild(this._icon),this._initInteraction(),i&&o&&this.getPane(t.shadowPane).appendChild(this._shadow)},_removeIcon:function(){this.options.riseOnHover&&this.off({mouseover:this._bringToFront,mouseout:this._resetZIndex}),this.options.autoPanOnFocus&&k(this._icon,"focus",this._panOnFocus,this),T(this._icon),this.removeInteractiveTarget(this._icon),this._icon=null},_removeShadow:function(){this._shadow&&T(this._shadow),this._shadow=null},_setPos:function(t){this._icon&&Z(this._icon,t),this._shadow&&Z(this._shadow,t),this._zIndex=t.y+this.options.zIndexOffset,this._resetZIndex()},_updateZIndex:function(t){this._icon&&(this._icon.style.zIndex=this._zIndex+t)},_animateZoom:function(t){t=this._map._latLngToNewLayerPoint(this._latlng,t.zoom,t.center).round();this._setPos(t)},_initInteraction:function(){var t;this.options.interactive&&(M(this._icon,"leaflet-interactive"),this.addInteractiveTarget(this._icon),_i&&(t=this.options.draggable,this.dragging&&(t=this.dragging.enabled(),this.dragging.disable()),this.dragging=new _i(this),t&&this.dragging.enable()))},setOpacity:function(t){return this.options.opacity=t,this._map&&this._updateOpacity(),this},_updateOpacity:function(){var t=this.options.opacity;this._icon&&C(this._icon,t),this._shadow&&C(this._shadow,t)},_bringToFront:function(){this._updateZIndex(this.options.riseOffset)},_resetZIndex:function(){this._updateZIndex(0)},_panOnFocus:function(){var t,e,i=this._map;i&&(t=(e=this.options.icon.options).iconSize?m(e.iconSize):m(0,0),e=e.iconAnchor?m(e.iconAnchor):m(0,0),i.panInside(this._latlng,{paddingTopLeft:e,paddingBottomRight:t.subtract(e)}))},_getPopupAnchor:function(){return this.options.icon.options.popupAnchor},_getTooltipAnchor:function(){return this.options.icon.options.tooltipAnchor}});var mi=o.extend({options:{stroke:!0,color:"#3388ff",weight:3,opacity:1,lineCap:"round",lineJoin:"round",dashArray:null,dashOffset:null,fill:!1,fillColor:null,fillOpacity:.2,fillRule:"evenodd",interactive:!0,bubblingMouseEvents:!0},beforeAdd:function(t){this._renderer=t.getRenderer(this)},onAdd:function(){this._renderer._initPath(this),this._reset(),this._renderer._addPath(this)},onRemove:function(){this._renderer._removePath(this)},redraw:function(){return this._map&&this._renderer._updatePath(this),this},setStyle:function(t){return c(this,t),this._renderer&&(this._renderer._updateStyle(this),this.options.stroke&&t&&Object.prototype.hasOwnProperty.call(t,"weight")&&this._updateBounds()),this},bringToFront:function(){return this._renderer&&this._renderer._bringToFront(this),this},bringToBack:function(){return this._renderer&&this._renderer._bringToBack(this),this},getElement:function(){return this._path},_reset:function(){this._project(),this._update()},_clickTolerance:function(){return(this.options.stroke?this.options.weight/2:0)+(this._renderer.options.tolerance||0)}}),fi=mi.extend({options:{fill:!0,radius:10},initialize:function(t,e){c(this,e),this._latlng=w(t),this._radius=this.options.radius},setLatLng:function(t){var e=this._latlng;return this._latlng=w(t),this.redraw(),this.fire("move",{oldLatLng:e,latlng:this._latlng})},getLatLng:function(){return this._latlng},setRadius:function(t){return this.options.radius=this._radius=t,this.redraw()},getRadius:function(){return this._radius},setStyle:function(t){var e=t&&t.radius||this._radius;return mi.prototype.setStyle.call(this,t),this.setRadius(e),this},_project:function(){this._point=this._map.latLngToLayerPoint(this._latlng),this._updateBounds()},_updateBounds:function(){var t=this._radius,e=this._radiusY||t,i=this._clickTolerance(),t=[t+i,e+i];this._pxBounds=new f(this._point.subtract(t),this._point.add(t))},_update:function(){this._map&&this._updatePath()},_updatePath:function(){this._renderer._updateCircle(this)},_empty:function(){return this._radius&&!this._renderer._bounds.intersects(this._pxBounds)},_containsPoint:function(t){return t.distanceTo(this._point)<=this._radius+this._clickTolerance()}});var gi=fi.extend({initialize:function(t,e,i){if(c(this,e="number"==typeof e?l({},i,{radius:e}):e),this._latlng=w(t),isNaN(this.options.radius))throw new Error("Circle radius cannot be NaN");this._mRadius=this.options.radius},setRadius:function(t){return this._mRadius=t,this.redraw()},getRadius:function(){return this._mRadius},getBounds:function(){var t=[this._radius,this._radiusY||this._radius];return new s(this._map.layerPointToLatLng(this._point.subtract(t)),this._map.layerPointToLatLng(this._point.add(t)))},setStyle:mi.prototype.setStyle,_project:function(){var t,e,i,n,o,s=this._latlng.lng,r=this._latlng.lat,a=this._map,h=a.options.crs;h.distance===st.distance?(n=Math.PI/180,o=this._mRadius/st.R/n,t=a.project([r+o,s]),e=a.project([r-o,s]),e=t.add(e).divideBy(2),i=a.unproject(e).lat,n=Math.acos((Math.cos(o*n)-Math.sin(r*n)*Math.sin(i*n))/(Math.cos(r*n)*Math.cos(i*n)))/n,!isNaN(n)&&0!==n||(n=o/Math.cos(Math.PI/180*r)),this._point=e.subtract(a.getPixelOrigin()),this._radius=isNaN(n)?0:e.x-a.project([i,s-n]).x,this._radiusY=e.y-t.y):(o=h.unproject(h.project(this._latlng).subtract([this._mRadius,0])),this._point=a.latLngToLayerPoint(this._latlng),this._radius=this._point.x-a.latLngToLayerPoint(o).x),this._updateBounds()}});var vi=mi.extend({options:{smoothFactor:1,noClip:!1},initialize:function(t,e){c(this,e),this._setLatLngs(t)},getLatLngs:function(){return this._latlngs},setLatLngs:function(t){return this._setLatLngs(t),this.redraw()},isEmpty:function(){return!this._latlngs.length},closestLayerPoint:function(t){for(var e=1/0,i=null,n=ni,o=0,s=this._parts.length;o<s;o++)for(var r=this._parts[o],a=1,h=r.length;a<h;a++){var l,u,c=n(t,l=r[a-1],u=r[a],!0);c<e&&(e=c,i=n(t,l,u))}return i&&(i.distance=Math.sqrt(e)),i},getCenter:function(){if(this._map)return si(this._defaultShape(),this._map.options.crs);throw new Error("Must add layer to map before using getCenter()")},getBounds:function(){return this._bounds},addLatLng:function(t,e){return e=e||this._defaultShape(),t=w(t),e.push(t),this._bounds.extend(t),this.redraw()},_setLatLngs:function(t){this._bounds=new s,this._latlngs=this._convertLatLngs(t)},_defaultShape:function(){return I(this._latlngs)?this._latlngs:this._latlngs[0]},_convertLatLngs:function(t){for(var e=[],i=I(t),n=0,o=t.length;n<o;n++)i?(e[n]=w(t[n]),this._bounds.extend(e[n])):e[n]=this._convertLatLngs(t[n]);return e},_project:function(){var t=new f;this._rings=[],this._projectLatlngs(this._latlngs,this._rings,t),this._bounds.isValid()&&t.isValid()&&(this._rawPxBounds=t,this._updateBounds())},_updateBounds:function(){var t=this._clickTolerance(),t=new p(t,t);this._rawPxBounds&&(this._pxBounds=new f([this._rawPxBounds.min.subtract(t),this._rawPxBounds.max.add(t)]))},_projectLatlngs:function(t,e,i){var n,o,s=t[0]instanceof v,r=t.length;if(s){for(o=[],n=0;n<r;n++)o[n]=this._map.latLngToLayerPoint(t[n]),i.extend(o[n]);e.push(o)}else for(n=0;n<r;n++)this._projectLatlngs(t[n],e,i)},_clipPoints:function(){var t=this._renderer._bounds;if(this._parts=[],this._pxBounds&&this._pxBounds.intersects(t))if(this.options.noClip)this._parts=this._rings;else for(var e,i,n,o,s=this._parts,r=0,a=0,h=this._rings.length;r<h;r++)for(e=0,i=(o=this._rings[r]).length;e<i-1;e++)(n=ti(o[e],o[e+1],t,e,!0))&&(s[a]=s[a]||[],s[a].push(n[0]),n[1]===o[e+1]&&e!==i-2||(s[a].push(n[1]),a++))},_simplifyPoints:function(){for(var t=this._parts,e=this.options.smoothFactor,i=0,n=t.length;i<n;i++)t[i]=$e(t[i],e)},_update:function(){this._map&&(this._clipPoints(),this._simplifyPoints(),this._updatePath())},_updatePath:function(){this._renderer._updatePoly(this)},_containsPoint:function(t,e){var i,n,o,s,r,a,h=this._clickTolerance();if(this._pxBounds&&this._pxBounds.contains(t))for(i=0,s=this._parts.length;i<s;i++)for(n=0,o=(r=(a=this._parts[i]).length)-1;n<r;o=n++)if((e||0!==n)&&Qe(t,a[o],a[n])<=h)return!0;return!1}});vi._flat=oi;var yi=vi.extend({options:{fill:!0},isEmpty:function(){return!this._latlngs.length||!this._latlngs[0].length},getCenter:function(){if(this._map)return ai(this._defaultShape(),this._map.options.crs);throw new Error("Must add layer to map before using getCenter()")},_convertLatLngs:function(t){var t=vi.prototype._convertLatLngs.call(this,t),e=t.length;return 2<=e&&t[0]instanceof v&&t[0].equals(t[e-1])&&t.pop(),t},_setLatLngs:function(t){vi.prototype._setLatLngs.call(this,t),I(this._latlngs)&&(this._latlngs=[this._latlngs])},_defaultShape:function(){return(I(this._latlngs[0])?this._latlngs:this._latlngs[0])[0]},_clipPoints:function(){var t=this._renderer._bounds,e=this.options.weight,e=new p(e,e),t=new f(t.min.subtract(e),t.max.add(e));if(this._parts=[],this._pxBounds&&this._pxBounds.intersects(t))if(this.options.noClip)this._parts=this._rings;else for(var i,n=0,o=this._rings.length;n<o;n++)(i=ri(this._rings[n],t,!0)).length&&this._parts.push(i)},_updatePath:function(){this._renderer._updatePoly(this,!0)},_containsPoint:function(t){var e,i,n,o,s,r,a,h,l=!1;if(!this._pxBounds||!this._pxBounds.contains(t))return!1;for(o=0,a=this._parts.length;o<a;o++)for(s=0,r=(h=(e=this._parts[o]).length)-1;s<h;r=s++)i=e[s],n=e[r],i.y>t.y!=n.y>t.y&&t.x<(n.x-i.x)*(t.y-i.y)/(n.y-i.y)+i.x&&(l=!l);return l||vi.prototype._containsPoint.call(this,t,!0)}});var xi=ui.extend({initialize:function(t,e){c(this,e),this._layers={},t&&this.addData(t)},addData:function(t){var e,i,n,o=d(t)?t:t.features;if(o){for(e=0,i=o.length;e<i;e++)((n=o[e]).geometries||n.geometry||n.features||n.coordinates)&&this.addData(n);return this}var s,r=this.options;return(!r.filter||r.filter(t))&&(s=wi(t,r))?(s.feature=Ci(t),s.defaultOptions=s.options,this.resetStyle(s),r.onEachFeature&&r.onEachFeature(t,s),this.addLayer(s)):this},resetStyle:function(t){return void 0===t?this.eachLayer(this.resetStyle,this):(t.options=l({},t.defaultOptions),this._setLayerStyle(t,this.options.style),this)},setStyle:function(e){return this.eachLayer(function(t){this._setLayerStyle(t,e)},this)},_setLayerStyle:function(t,e){t.setStyle&&("function"==typeof e&&(e=e(t.feature)),t.setStyle(e))}});function wi(t,e){var i,n,o,s,r="Feature"===t.type?t.geometry:t,a=r?r.coordinates:null,h=[],l=e&&e.pointToLayer,u=e&&e.coordsToLatLng||Pi;if(!a&&!r)return null;switch(r.type){case"Point":return bi(l,t,i=u(a),e);case"MultiPoint":for(o=0,s=a.length;o<s;o++)i=u(a[o]),h.push(bi(l,t,i,e));return new ui(h);case"LineString":case"MultiLineString":return n=Li(a,"LineString"===r.type?0:1,u),new vi(n,e);case"Polygon":case"MultiPolygon":return n=Li(a,"Polygon"===r.type?1:2,u),new yi(n,e);case"GeometryCollection":for(o=0,s=r.geometries.length;o<s;o++){var c=wi({geometry:r.geometries[o],type:"Feature",properties:t.properties},e);c&&h.push(c)}return new ui(h);case"FeatureCollection":for(o=0,s=r.features.length;o<s;o++){var d=wi(r.features[o],e);d&&h.push(d)}return new ui(h);default:throw new Error("Invalid GeoJSON object.")}}function bi(t,e,i,n){return t?t(e,i):new pi(i,n&&n.markersInheritOptions&&n)}function Pi(t){return new v(t[1],t[0],t[2])}function Li(t,e,i){for(var n,o=[],s=0,r=t.length;s<r;s++)n=e?Li(t[s],e-1,i):(i||Pi)(t[s]),o.push(n);return o}function Ti(t,e){return void 0!==(t=w(t)).alt?[i(t.lng,e),i(t.lat,e),i(t.alt,e)]:[i(t.lng,e),i(t.lat,e)]}function Mi(t,e,i,n){for(var o=[],s=0,r=t.length;s<r;s++)o.push(e?Mi(t[s],I(t[s])?0:e-1,i,n):Ti(t[s],n));return!e&&i&&o.push(o[0].slice()),o}function zi(t,e){return t.feature?l({},t.feature,{geometry:e}):Ci(e)}function Ci(t){return"Feature"===t.type||"FeatureCollection"===t.type?t:{type:"Feature",properties:{},geometry:t}}Tt={toGeoJSON:function(t){return zi(this,{type:"Point",coordinates:Ti(this.getLatLng(),t)})}};function Zi(t,e){return new xi(t,e)}pi.include(Tt),gi.include(Tt),fi.include(Tt),vi.include({toGeoJSON:function(t){var e=!I(this._latlngs);return zi(this,{type:(e?"Multi":"")+"LineString",coordinates:Mi(this._latlngs,e?1:0,!1,t)})}}),yi.include({toGeoJSON:function(t){var e=!I(this._latlngs),i=e&&!I(this._latlngs[0]),t=Mi(this._latlngs,i?2:e?1:0,!0,t);return zi(this,{type:(i?"Multi":"")+"Polygon",coordinates:t=e?t:[t]})}}),li.include({toMultiPoint:function(e){var i=[];return this.eachLayer(function(t){i.push(t.toGeoJSON(e).geometry.coordinates)}),zi(this,{type:"MultiPoint",coordinates:i})},toGeoJSON:function(e){var i,n,t=this.feature&&this.feature.geometry&&this.feature.geometry.type;return"MultiPoint"===t?this.toMultiPoint(e):(i="GeometryCollection"===t,n=[],this.eachLayer(function(t){t.toGeoJSON&&(t=t.toGeoJSON(e),i?n.push(t.geometry):"FeatureCollection"===(t=Ci(t)).type?n.push.apply(n,t.features):n.push(t))}),i?zi(this,{geometries:n,type:"GeometryCollection"}):{type:"FeatureCollection",features:n})}});var Mt=Zi,Si=o.extend({options:{opacity:1,alt:"",interactive:!1,crossOrigin:!1,errorOverlayUrl:"",zIndex:1,className:""},initialize:function(t,e,i){this._url=t,this._bounds=g(e),c(this,i)},onAdd:function(){this._image||(this._initImage(),this.options.opacity<1&&this._updateOpacity()),this.options.interactive&&(M(this._image,"leaflet-interactive"),this.addInteractiveTarget(this._image)),this.getPane().appendChild(this._image),this._reset()},onRemove:function(){T(this._image),this.options.interactive&&this.removeInteractiveTarget(this._image)},setOpacity:function(t){return this.options.opacity=t,this._image&&this._updateOpacity(),this},setStyle:function(t){return t.opacity&&this.setOpacity(t.opacity),this},bringToFront:function(){return this._map&&fe(this._image),this},bringToBack:function(){return this._map&&ge(this._image),this},setUrl:function(t){return this._url=t,this._image&&(this._image.src=t),this},setBounds:function(t){return this._bounds=g(t),this._map&&this._reset(),this},getEvents:function(){var t={zoom:this._reset,viewreset:this._reset};return this._zoomAnimated&&(t.zoomanim=this._animateZoom),t},setZIndex:function(t){return this.options.zIndex=t,this._updateZIndex(),this},getBounds:function(){return this._bounds},getElement:function(){return this._image},_initImage:function(){var t="IMG"===this._url.tagName,e=this._image=t?this._url:P("img");M(e,"leaflet-image-layer"),this._zoomAnimated&&M(e,"leaflet-zoom-animated"),this.options.className&&M(e,this.options.className),e.onselectstart=u,e.onmousemove=u,e.onload=a(this.fire,this,"load"),e.onerror=a(this._overlayOnError,this,"error"),!this.options.crossOrigin&&""!==this.options.crossOrigin||(e.crossOrigin=!0===this.options.crossOrigin?"":this.options.crossOrigin),this.options.zIndex&&this._updateZIndex(),t?this._url=e.src:(e.src=this._url,e.alt=this.options.alt)},_animateZoom:function(t){var e=this._map.getZoomScale(t.zoom),t=this._map._latLngBoundsToNewLayerBounds(this._bounds,t.zoom,t.center).min;be(this._image,t,e)},_reset:function(){var t=this._image,e=new f(this._map.latLngToLayerPoint(this._bounds.getNorthWest()),this._map.latLngToLayerPoint(this._bounds.getSouthEast())),i=e.getSize();Z(t,e.min),t.style.width=i.x+"px",t.style.height=i.y+"px"},_updateOpacity:function(){C(this._image,this.options.opacity)},_updateZIndex:function(){this._image&&void 0!==this.options.zIndex&&null!==this.options.zIndex&&(this._image.style.zIndex=this.options.zIndex)},_overlayOnError:function(){this.fire("error");var t=this.options.errorOverlayUrl;t&&this._url!==t&&(this._url=t,this._image.src=t)},getCenter:function(){return this._bounds.getCenter()}}),Ei=Si.extend({options:{autoplay:!0,loop:!0,keepAspectRatio:!0,muted:!1,playsInline:!0},_initImage:function(){var t="VIDEO"===this._url.tagName,e=this._image=t?this._url:P("video");if(M(e,"leaflet-image-layer"),this._zoomAnimated&&M(e,"leaflet-zoom-animated"),this.options.className&&M(e,this.options.className),e.onselectstart=u,e.onmousemove=u,e.onloadeddata=a(this.fire,this,"load"),t){for(var i=e.getElementsByTagName("source"),n=[],o=0;o<i.length;o++)n.push(i[o].src);this._url=0<i.length?n:[e.src]}else{d(this._url)||(this._url=[this._url]),!this.options.keepAspectRatio&&Object.prototype.hasOwnProperty.call(e.style,"objectFit")&&(e.style.objectFit="fill"),e.autoplay=!!this.options.autoplay,e.loop=!!this.options.loop,e.muted=!!this.options.muted,e.playsInline=!!this.options.playsInline;for(var s=0;s<this._url.length;s++){var r=P("source");r.src=this._url[s],e.appendChild(r)}}}});var ki=Si.extend({_initImage:function(){var t=this._image=this._url;M(t,"leaflet-image-layer"),this._zoomAnimated&&M(t,"leaflet-zoom-animated"),this.options.className&&M(t,this.options.className),t.onselectstart=u,t.onmousemove=u}});var Oi=o.extend({options:{interactive:!1,offset:[0,0],className:"",pane:void 0,content:""},initialize:function(t,e){t&&(t instanceof v||d(t))?(this._latlng=w(t),c(this,e)):(c(this,t),this._source=e),this.options.content&&(this._content=this.options.content)},openOn:function(t){return(t=arguments.length?t:this._source._map).hasLayer(this)||t.addLayer(this),this},close:function(){return this._map&&this._map.removeLayer(this),this},toggle:function(t){return this._map?this.close():(arguments.length?this._source=t:t=this._source,this._prepareOpen(),this.openOn(t._map)),this},onAdd:function(t){this._zoomAnimated=t._zoomAnimated,this._container||this._initLayout(),t._fadeAnimated&&C(this._container,0),clearTimeout(this._removeTimeout),this.getPane().appendChild(this._container),this.update(),t._fadeAnimated&&C(this._container,1),this.bringToFront(),this.options.interactive&&(M(this._container,"leaflet-interactive"),this.addInteractiveTarget(this._container))},onRemove:function(t){t._fadeAnimated?(C(this._container,0),this._removeTimeout=setTimeout(a(T,void 0,this._container),200)):T(this._container),this.options.interactive&&(z(this._container,"leaflet-interactive"),this.removeInteractiveTarget(this._container))},getLatLng:function(){return this._latlng},setLatLng:function(t){return this._latlng=w(t),this._map&&(this._updatePosition(),this._adjustPan()),this},getContent:function(){return this._content},setContent:function(t){return this._content=t,this.update(),this},getElement:function(){return this._container},update:function(){this._map&&(this._container.style.visibility="hidden",this._updateContent(),this._updateLayout(),this._updatePosition(),this._container.style.visibility="",this._adjustPan())},getEvents:function(){var t={zoom:this._updatePosition,viewreset:this._updatePosition};return this._zoomAnimated&&(t.zoomanim=this._animateZoom),t},isOpen:function(){return!!this._map&&this._map.hasLayer(this)},bringToFront:function(){return this._map&&fe(this._container),this},bringToBack:function(){return this._map&&ge(this._container),this},_prepareOpen:function(t){if(!(i=this._source)._map)return!1;if(i instanceof ui){var e,i=null,n=this._source._layers;for(e in n)if(n[e]._map){i=n[e];break}if(!i)return!1;this._source=i}if(!t)if(i.getCenter)t=i.getCenter();else if(i.getLatLng)t=i.getLatLng();else{if(!i.getBounds)throw new Error("Unable to get source layer LatLng.");t=i.getBounds().getCenter()}return this.setLatLng(t),this._map&&this.update(),!0},_updateContent:function(){if(this._content){var t=this._contentNode,e="function"==typeof this._content?this._content(this._source||this):this._content;if("string"==typeof e)t.innerHTML=e;else{for(;t.hasChildNodes();)t.removeChild(t.firstChild);t.appendChild(e)}this.fire("contentupdate")}},_updatePosition:function(){var t,e,i;this._map&&(e=this._map.latLngToLayerPoint(this._latlng),t=m(this.options.offset),i=this._getAnchor(),this._zoomAnimated?Z(this._container,e.add(i)):t=t.add(e).add(i),e=this._containerBottom=-t.y,i=this._containerLeft=-Math.round(this._containerWidth/2)+t.x,this._container.style.bottom=e+"px",this._container.style.left=i+"px")},_getAnchor:function(){return[0,0]}}),Ai=(A.include({_initOverlay:function(t,e,i,n){var o=e;return o instanceof t||(o=new t(n).setContent(e)),i&&o.setLatLng(i),o}}),o.include({_initOverlay:function(t,e,i,n){var o=i;return o instanceof t?(c(o,n),o._source=this):(o=e&&!n?e:new t(n,this)).setContent(i),o}}),Oi.extend({options:{pane:"popupPane",offset:[0,7],maxWidth:300,minWidth:50,maxHeight:null,autoPan:!0,autoPanPaddingTopLeft:null,autoPanPaddingBottomRight:null,autoPanPadding:[5,5],keepInView:!1,closeButton:!0,autoClose:!0,closeOnEscapeKey:!0,className:""},openOn:function(t){return!(t=arguments.length?t:this._source._map).hasLayer(this)&&t._popup&&t._popup.options.autoClose&&t.removeLayer(t._popup),t._popup=this,Oi.prototype.openOn.call(this,t)},onAdd:function(t){Oi.prototype.onAdd.call(this,t),t.fire("popupopen",{popup:this}),this._source&&(this._source.fire("popupopen",{popup:this},!0),this._source instanceof mi||this._source.on("preclick",Ae))},onRemove:function(t){Oi.prototype.onRemove.call(this,t),t.fire("popupclose",{popup:this}),this._source&&(this._source.fire("popupclose",{popup:this},!0),this._source instanceof mi||this._source.off("preclick",Ae))},getEvents:function(){var t=Oi.prototype.getEvents.call(this);return(void 0!==this.options.closeOnClick?this.options.closeOnClick:this._map.options.closePopupOnClick)&&(t.preclick=this.close),this.options.keepInView&&(t.moveend=this._adjustPan),t},_initLayout:function(){var t="leaflet-popup",e=this._container=P("div",t+" "+(this.options.className||"")+" leaflet-zoom-animated"),i=this._wrapper=P("div",t+"-content-wrapper",e);this._contentNode=P("div",t+"-content",i),Ie(e),Be(this._contentNode),S(e,"contextmenu",Ae),this._tipContainer=P("div",t+"-tip-container",e),this._tip=P("div",t+"-tip",this._tipContainer),this.options.closeButton&&((i=this._closeButton=P("a",t+"-close-button",e)).setAttribute("role","button"),i.setAttribute("aria-label","Close popup"),i.href="#close",i.innerHTML='<span aria-hidden="true">&#215;</span>',S(i,"click",function(t){O(t),this.close()},this))},_updateLayout:function(){var t=this._contentNode,e=t.style,i=(e.width="",e.whiteSpace="nowrap",t.offsetWidth),i=Math.min(i,this.options.maxWidth),i=(i=Math.max(i,this.options.minWidth),e.width=i+1+"px",e.whiteSpace="",e.height="",t.offsetHeight),n=this.options.maxHeight,o="leaflet-popup-scrolled";(n&&n<i?(e.height=n+"px",M):z)(t,o),this._containerWidth=this._container.offsetWidth},_animateZoom:function(t){var t=this._map._latLngToNewLayerPoint(this._latlng,t.zoom,t.center),e=this._getAnchor();Z(this._container,t.add(e))},_adjustPan:function(){var t,e,i,n,o,s,r,a;this.options.autoPan&&(this._map._panAnim&&this._map._panAnim.stop(),this._autopanning?this._autopanning=!1:(t=this._map,e=parseInt(pe(this._container,"marginBottom"),10)||0,e=this._container.offsetHeight+e,a=this._containerWidth,(i=new p(this._containerLeft,-e-this._containerBottom))._add(Pe(this._container)),i=t.layerPointToContainerPoint(i),o=m(this.options.autoPanPadding),n=m(this.options.autoPanPaddingTopLeft||o),o=m(this.options.autoPanPaddingBottomRight||o),s=t.getSize(),r=0,i.x+a+o.x>s.x&&(r=i.x+a-s.x+o.x),i.x-r-n.x<(a=0)&&(r=i.x-n.x),i.y+e+o.y>s.y&&(a=i.y+e-s.y+o.y),i.y-a-n.y<0&&(a=i.y-n.y),(r||a)&&(this.options.keepInView&&(this._autopanning=!0),t.fire("autopanstart").panBy([r,a]))))},_getAnchor:function(){return m(this._source&&this._source._getPopupAnchor?this._source._getPopupAnchor():[0,0])}})),Bi=(A.mergeOptions({closePopupOnClick:!0}),A.include({openPopup:function(t,e,i){return this._initOverlay(Ai,t,e,i).openOn(this),this},closePopup:function(t){return(t=arguments.length?t:this._popup)&&t.close(),this}}),o.include({bindPopup:function(t,e){return this._popup=this._initOverlay(Ai,this._popup,t,e),this._popupHandlersAdded||(this.on({click:this._openPopup,keypress:this._onKeyPress,remove:this.closePopup,move:this._movePopup}),this._popupHandlersAdded=!0),this},unbindPopup:function(){return this._popup&&(this.off({click:this._openPopup,keypress:this._onKeyPress,remove:this.closePopup,move:this._movePopup}),this._popupHandlersAdded=!1,this._popup=null),this},openPopup:function(t){return this._popup&&(this instanceof ui||(this._popup._source=this),this._popup._prepareOpen(t||this._latlng)&&this._popup.openOn(this._map)),this},closePopup:function(){return this._popup&&this._popup.close(),this},togglePopup:function(){return this._popup&&this._popup.toggle(this),this},isPopupOpen:function(){return!!this._popup&&this._popup.isOpen()},setPopupContent:function(t){return this._popup&&this._popup.setContent(t),this},getPopup:function(){return this._popup},_openPopup:function(t){var e;this._popup&&this._map&&(Re(t),e=t.layer||t.target,this._popup._source!==e||e instanceof mi?(this._popup._source=e,this.openPopup(t.latlng)):this._map.hasLayer(this._popup)?this.closePopup():this.openPopup(t.latlng))},_movePopup:function(t){this._popup.setLatLng(t.latlng)},_onKeyPress:function(t){13===t.originalEvent.keyCode&&this._openPopup(t)}}),Oi.extend({options:{pane:"tooltipPane",offset:[0,0],direction:"auto",permanent:!1,sticky:!1,opacity:.9},onAdd:function(t){Oi.prototype.onAdd.call(this,t),this.setOpacity(this.options.opacity),t.fire("tooltipopen",{tooltip:this}),this._source&&(this.addEventParent(this._source),this._source.fire("tooltipopen",{tooltip:this},!0))},onRemove:function(t){Oi.prototype.onRemove.call(this,t),t.fire("tooltipclose",{tooltip:this}),this._source&&(this.removeEventParent(this._source),this._source.fire("tooltipclose",{tooltip:this},!0))},getEvents:function(){var t=Oi.prototype.getEvents.call(this);return this.options.permanent||(t.preclick=this.close),t},_initLayout:function(){var t="leaflet-tooltip "+(this.options.className||"")+" leaflet-zoom-"+(this._zoomAnimated?"animated":"hide");this._contentNode=this._container=P("div",t),this._container.setAttribute("role","tooltip"),this._container.setAttribute("id","leaflet-tooltip-"+h(this))},_updateLayout:function(){},_adjustPan:function(){},_setPosition:function(t){var e,i=this._map,n=this._container,o=i.latLngToContainerPoint(i.getCenter()),i=i.layerPointToContainerPoint(t),s=this.options.direction,r=n.offsetWidth,a=n.offsetHeight,h=m(this.options.offset),l=this._getAnchor(),i="top"===s?(e=r/2,a):"bottom"===s?(e=r/2,0):(e="center"===s?r/2:"right"===s?0:"left"===s?r:i.x<o.x?(s="right",0):(s="left",r+2*(h.x+l.x)),a/2);t=t.subtract(m(e,i,!0)).add(h).add(l),z(n,"leaflet-tooltip-right"),z(n,"leaflet-tooltip-left"),z(n,"leaflet-tooltip-top"),z(n,"leaflet-tooltip-bottom"),M(n,"leaflet-tooltip-"+s),Z(n,t)},_updatePosition:function(){var t=this._map.latLngToLayerPoint(this._latlng);this._setPosition(t)},setOpacity:function(t){this.options.opacity=t,this._container&&C(this._container,t)},_animateZoom:function(t){t=this._map._latLngToNewLayerPoint(this._latlng,t.zoom,t.center);this._setPosition(t)},_getAnchor:function(){return m(this._source&&this._source._getTooltipAnchor&&!this.options.sticky?this._source._getTooltipAnchor():[0,0])}})),Ii=(A.include({openTooltip:function(t,e,i){return this._initOverlay(Bi,t,e,i).openOn(this),this},closeTooltip:function(t){return t.close(),this}}),o.include({bindTooltip:function(t,e){return this._tooltip&&this.isTooltipOpen()&&this.unbindTooltip(),this._tooltip=this._initOverlay(Bi,this._tooltip,t,e),this._initTooltipInteractions(),this._tooltip.options.permanent&&this._map&&this._map.hasLayer(this)&&this.openTooltip(),this},unbindTooltip:function(){return this._tooltip&&(this._initTooltipInteractions(!0),this.closeTooltip(),this._tooltip=null),this},_initTooltipInteractions:function(t){var e,i;!t&&this._tooltipHandlersAdded||(e=t?"off":"on",i={remove:this.closeTooltip,move:this._moveTooltip},this._tooltip.options.permanent?i.add=this._openTooltip:(i.mouseover=this._openTooltip,i.mouseout=this.closeTooltip,i.click=this._openTooltip,this._map?this._addFocusListeners():i.add=this._addFocusListeners),this._tooltip.options.sticky&&(i.mousemove=this._moveTooltip),this[e](i),this._tooltipHandlersAdded=!t)},openTooltip:function(t){return this._tooltip&&(this instanceof ui||(this._tooltip._source=this),this._tooltip._prepareOpen(t)&&(this._tooltip.openOn(this._map),this.getElement?this._setAriaDescribedByOnLayer(this):this.eachLayer&&this.eachLayer(this._setAriaDescribedByOnLayer,this))),this},closeTooltip:function(){if(this._tooltip)return this._tooltip.close()},toggleTooltip:function(){return this._tooltip&&this._tooltip.toggle(this),this},isTooltipOpen:function(){return this._tooltip.isOpen()},setTooltipContent:function(t){return this._tooltip&&this._tooltip.setContent(t),this},getTooltip:function(){return this._tooltip},_addFocusListeners:function(){this.getElement?this._addFocusListenersOnLayer(this):this.eachLayer&&this.eachLayer(this._addFocusListenersOnLayer,this)},_addFocusListenersOnLayer:function(t){var e=t.getElement();e&&(S(e,"focus",function(){this._tooltip._source=t,this.openTooltip()},this),S(e,"blur",this.closeTooltip,this))},_setAriaDescribedByOnLayer:function(t){t=t.getElement();t&&t.setAttribute("aria-describedby",this._tooltip._container.id)},_openTooltip:function(t){!this._tooltip||!this._map||this._map.dragging&&this._map.dragging.moving()||(this._tooltip._source=t.layer||t.target,this.openTooltip(this._tooltip.options.sticky?t.latlng:void 0))},_moveTooltip:function(t){var e=t.latlng;this._tooltip.options.sticky&&t.originalEvent&&(t=this._map.mouseEventToContainerPoint(t.originalEvent),t=this._map.containerPointToLayerPoint(t),e=this._map.layerPointToLatLng(t)),this._tooltip.setLatLng(e)}}),ci.extend({options:{iconSize:[12,12],html:!1,bgPos:null,className:"leaflet-div-icon"},createIcon:function(t){var t=t&&"DIV"===t.tagName?t:document.createElement("div"),e=this.options;return e.html instanceof Element?(me(t),t.appendChild(e.html)):t.innerHTML=!1!==e.html?e.html:"",e.bgPos&&(e=m(e.bgPos),t.style.backgroundPosition=-e.x+"px "+-e.y+"px"),this._setIconStyles(t,"icon"),t},createShadow:function(){return null}}));ci.Default=di;var Ri=o.extend({options:{tileSize:256,opacity:1,updateWhenIdle:b.mobile,updateWhenZooming:!0,updateInterval:200,zIndex:1,bounds:null,minZoom:0,maxZoom:void 0,maxNativeZoom:void 0,minNativeZoom:void 0,noWrap:!1,pane:"tilePane",className:"",keepBuffer:2},initialize:function(t){c(this,t)},onAdd:function(){this._initContainer(),this._levels={},this._tiles={},this._resetView()},beforeAdd:function(t){t._addZoomLimit(this)},onRemove:function(t){this._removeAllTiles(),T(this._container),t._removeZoomLimit(this),this._container=null,this._tileZoom=void 0},bringToFront:function(){return this._map&&(fe(this._container),this._setAutoZIndex(Math.max)),this},bringToBack:function(){return this._map&&(ge(this._container),this._setAutoZIndex(Math.min)),this},getContainer:function(){return this._container},setOpacity:function(t){return this.options.opacity=t,this._updateOpacity(),this},setZIndex:function(t){return this.options.zIndex=t,this._updateZIndex(),this},isLoading:function(){return this._loading},redraw:function(){var t;return this._map&&(this._removeAllTiles(),(t=this._clampZoom(this._map.getZoom()))!==this._tileZoom&&(this._tileZoom=t,this._updateLevels()),this._update()),this},getEvents:function(){var t={viewprereset:this._invalidateAll,viewreset:this._resetView,zoom:this._resetView,moveend:this._onMoveEnd};return this.options.updateWhenIdle||(this._onMove||(this._onMove=j(this._onMoveEnd,this.options.updateInterval,this)),t.move=this._onMove),this._zoomAnimated&&(t.zoomanim=this._animateZoom),t},createTile:function(){return document.createElement("div")},getTileSize:function(){var t=this.options.tileSize;return t instanceof p?t:new p(t,t)},_updateZIndex:function(){this._container&&void 0!==this.options.zIndex&&null!==this.options.zIndex&&(this._container.style.zIndex=this.options.zIndex)},_setAutoZIndex:function(t){for(var e,i=this.getPane().children,n=-t(-1/0,1/0),o=0,s=i.length;o<s;o++)e=i[o].style.zIndex,i[o]!==this._container&&e&&(n=t(n,+e));isFinite(n)&&(this.options.zIndex=n+t(-1,1),this._updateZIndex())},_updateOpacity:function(){if(this._map&&!b.ielt9){C(this._container,this.options.opacity);var t,e=+new Date,i=!1,n=!1;for(t in this._tiles){var o,s=this._tiles[t];s.current&&s.loaded&&(o=Math.min(1,(e-s.loaded)/200),C(s.el,o),o<1?i=!0:(s.active?n=!0:this._onOpaqueTile(s),s.active=!0))}n&&!this._noPrune&&this._pruneTiles(),i&&(r(this._fadeFrame),this._fadeFrame=x(this._updateOpacity,this))}},_onOpaqueTile:u,_initContainer:function(){this._container||(this._container=P("div","leaflet-layer "+(this.options.className||"")),this._updateZIndex(),this.options.opacity<1&&this._updateOpacity(),this.getPane().appendChild(this._container))},_updateLevels:function(){var t=this._tileZoom,e=this.options.maxZoom;if(void 0!==t){for(var i in this._levels)i=Number(i),this._levels[i].el.children.length||i===t?(this._levels[i].el.style.zIndex=e-Math.abs(t-i),this._onUpdateLevel(i)):(T(this._levels[i].el),this._removeTilesAtZoom(i),this._onRemoveLevel(i),delete this._levels[i]);var n=this._levels[t],o=this._map;return n||((n=this._levels[t]={}).el=P("div","leaflet-tile-container leaflet-zoom-animated",this._container),n.el.style.zIndex=e,n.origin=o.project(o.unproject(o.getPixelOrigin()),t).round(),n.zoom=t,this._setZoomTransform(n,o.getCenter(),o.getZoom()),u(n.el.offsetWidth),this._onCreateLevel(n)),this._level=n}},_onUpdateLevel:u,_onRemoveLevel:u,_onCreateLevel:u,_pruneTiles:function(){if(this._map){var t,e,i,n=this._map.getZoom();if(n>this.options.maxZoom||n<this.options.minZoom)this._removeAllTiles();else{for(t in this._tiles)(i=this._tiles[t]).retain=i.current;for(t in this._tiles)(i=this._tiles[t]).current&&!i.active&&(e=i.coords,this._retainParent(e.x,e.y,e.z,e.z-5)||this._retainChildren(e.x,e.y,e.z,e.z+2));for(t in this._tiles)this._tiles[t].retain||this._removeTile(t)}}},_removeTilesAtZoom:function(t){for(var e in this._tiles)this._tiles[e].coords.z===t&&this._removeTile(e)},_removeAllTiles:function(){for(var t in this._tiles)this._removeTile(t)},_invalidateAll:function(){for(var t in this._levels)T(this._levels[t].el),this._onRemoveLevel(Number(t)),delete this._levels[t];this._removeAllTiles(),this._tileZoom=void 0},_retainParent:function(t,e,i,n){var t=Math.floor(t/2),e=Math.floor(e/2),i=i-1,o=new p(+t,+e),o=(o.z=i,this._tileCoordsToKey(o)),o=this._tiles[o];return o&&o.active?o.retain=!0:(o&&o.loaded&&(o.retain=!0),n<i&&this._retainParent(t,e,i,n))},_retainChildren:function(t,e,i,n){for(var o=2*t;o<2*t+2;o++)for(var s=2*e;s<2*e+2;s++){var r=new p(o,s),r=(r.z=i+1,this._tileCoordsToKey(r)),r=this._tiles[r];r&&r.active?r.retain=!0:(r&&r.loaded&&(r.retain=!0),i+1<n&&this._retainChildren(o,s,i+1,n))}},_resetView:function(t){t=t&&(t.pinch||t.flyTo);this._setView(this._map.getCenter(),this._map.getZoom(),t,t)},_animateZoom:function(t){this._setView(t.center,t.zoom,!0,t.noUpdate)},_clampZoom:function(t){var e=this.options;return void 0!==e.minNativeZoom&&t<e.minNativeZoom?e.minNativeZoom:void 0!==e.maxNativeZoom&&e.maxNativeZoom<t?e.maxNativeZoom:t},_setView:function(t,e,i,n){var o=Math.round(e),o=void 0!==this.options.maxZoom&&o>this.options.maxZoom||void 0!==this.options.minZoom&&o<this.options.minZoom?void 0:this._clampZoom(o),s=this.options.updateWhenZooming&&o!==this._tileZoom;n&&!s||(this._tileZoom=o,this._abortLoading&&this._abortLoading(),this._updateLevels(),this._resetGrid(),void 0!==o&&this._update(t),i||this._pruneTiles(),this._noPrune=!!i),this._setZoomTransforms(t,e)},_setZoomTransforms:function(t,e){for(var i in this._levels)this._setZoomTransform(this._levels[i],t,e)},_setZoomTransform:function(t,e,i){var n=this._map.getZoomScale(i,t.zoom),e=t.origin.multiplyBy(n).subtract(this._map._getNewPixelOrigin(e,i)).round();b.any3d?be(t.el,e,n):Z(t.el,e)},_resetGrid:function(){var t=this._map,e=t.options.crs,i=this._tileSize=this.getTileSize(),n=this._tileZoom,o=this._map.getPixelWorldBounds(this._tileZoom);o&&(this._globalTileRange=this._pxBoundsToTileRange(o)),this._wrapX=e.wrapLng&&!this.options.noWrap&&[Math.floor(t.project([0,e.wrapLng[0]],n).x/i.x),Math.ceil(t.project([0,e.wrapLng[1]],n).x/i.y)],this._wrapY=e.wrapLat&&!this.options.noWrap&&[Math.floor(t.project([e.wrapLat[0],0],n).y/i.x),Math.ceil(t.project([e.wrapLat[1],0],n).y/i.y)]},_onMoveEnd:function(){this._map&&!this._map._animatingZoom&&this._update()},_getTiledPixelBounds:function(t){var e=this._map,i=e._animatingZoom?Math.max(e._animateToZoom,e.getZoom()):e.getZoom(),i=e.getZoomScale(i,this._tileZoom),t=e.project(t,this._tileZoom).floor(),e=e.getSize().divideBy(2*i);return new f(t.subtract(e),t.add(e))},_update:function(t){var e=this._map;if(e){var i=this._clampZoom(e.getZoom());if(void 0===t&&(t=e.getCenter()),void 0!==this._tileZoom){var n,e=this._getTiledPixelBounds(t),o=this._pxBoundsToTileRange(e),s=o.getCenter(),r=[],e=this.options.keepBuffer,a=new f(o.getBottomLeft().subtract([e,-e]),o.getTopRight().add([e,-e]));if(!(isFinite(o.min.x)&&isFinite(o.min.y)&&isFinite(o.max.x)&&isFinite(o.max.y)))throw new Error("Attempted to load an infinite number of tiles");for(n in this._tiles){var h=this._tiles[n].coords;h.z===this._tileZoom&&a.contains(new p(h.x,h.y))||(this._tiles[n].current=!1)}if(1<Math.abs(i-this._tileZoom))this._setView(t,i);else{for(var l=o.min.y;l<=o.max.y;l++)for(var u=o.min.x;u<=o.max.x;u++){var c,d=new p(u,l);d.z=this._tileZoom,this._isValidTile(d)&&((c=this._tiles[this._tileCoordsToKey(d)])?c.current=!0:r.push(d))}if(r.sort(function(t,e){return t.distanceTo(s)-e.distanceTo(s)}),0!==r.length){this._loading||(this._loading=!0,this.fire("loading"));for(var _=document.createDocumentFragment(),u=0;u<r.length;u++)this._addTile(r[u],_);this._level.el.appendChild(_)}}}}},_isValidTile:function(t){var e=this._map.options.crs;if(!e.infinite){var i=this._globalTileRange;if(!e.wrapLng&&(t.x<i.min.x||t.x>i.max.x)||!e.wrapLat&&(t.y<i.min.y||t.y>i.max.y))return!1}return!this.options.bounds||(e=this._tileCoordsToBounds(t),g(this.options.bounds).overlaps(e))},_keyToBounds:function(t){return this._tileCoordsToBounds(this._keyToTileCoords(t))},_tileCoordsToNwSe:function(t){var e=this._map,i=this.getTileSize(),n=t.scaleBy(i),i=n.add(i);return[e.unproject(n,t.z),e.unproject(i,t.z)]},_tileCoordsToBounds:function(t){t=this._tileCoordsToNwSe(t),t=new s(t[0],t[1]);return t=this.options.noWrap?t:this._map.wrapLatLngBounds(t)},_tileCoordsToKey:function(t){return t.x+":"+t.y+":"+t.z},_keyToTileCoords:function(t){var t=t.split(":"),e=new p(+t[0],+t[1]);return e.z=+t[2],e},_removeTile:function(t){var e=this._tiles[t];e&&(T(e.el),delete this._tiles[t],this.fire("tileunload",{tile:e.el,coords:this._keyToTileCoords(t)}))},_initTile:function(t){M(t,"leaflet-tile");var e=this.getTileSize();t.style.width=e.x+"px",t.style.height=e.y+"px",t.onselectstart=u,t.onmousemove=u,b.ielt9&&this.options.opacity<1&&C(t,this.options.opacity)},_addTile:function(t,e){var i=this._getTilePos(t),n=this._tileCoordsToKey(t),o=this.createTile(this._wrapCoords(t),a(this._tileReady,this,t));this._initTile(o),this.createTile.length<2&&x(a(this._tileReady,this,t,null,o)),Z(o,i),this._tiles[n]={el:o,coords:t,current:!0},e.appendChild(o),this.fire("tileloadstart",{tile:o,coords:t})},_tileReady:function(t,e,i){e&&this.fire("tileerror",{error:e,tile:i,coords:t});var n=this._tileCoordsToKey(t);(i=this._tiles[n])&&(i.loaded=+new Date,this._map._fadeAnimated?(C(i.el,0),r(this._fadeFrame),this._fadeFrame=x(this._updateOpacity,this)):(i.active=!0,this._pruneTiles()),e||(M(i.el,"leaflet-tile-loaded"),this.fire("tileload",{tile:i.el,coords:t})),this._noTilesToLoad()&&(this._loading=!1,this.fire("load"),b.ielt9||!this._map._fadeAnimated?x(this._pruneTiles,this):setTimeout(a(this._pruneTiles,this),250)))},_getTilePos:function(t){return t.scaleBy(this.getTileSize()).subtract(this._level.origin)},_wrapCoords:function(t){var e=new p(this._wrapX?H(t.x,this._wrapX):t.x,this._wrapY?H(t.y,this._wrapY):t.y);return e.z=t.z,e},_pxBoundsToTileRange:function(t){var e=this.getTileSize();return new f(t.min.unscaleBy(e).floor(),t.max.unscaleBy(e).ceil().subtract([1,1]))},_noTilesToLoad:function(){for(var t in this._tiles)if(!this._tiles[t].loaded)return!1;return!0}});var Ni=Ri.extend({options:{minZoom:0,maxZoom:18,subdomains:"abc",errorTileUrl:"",zoomOffset:0,tms:!1,zoomReverse:!1,detectRetina:!1,crossOrigin:!1,referrerPolicy:!1},initialize:function(t,e){this._url=t,(e=c(this,e)).detectRetina&&b.retina&&0<e.maxZoom?(e.tileSize=Math.floor(e.tileSize/2),e.zoomReverse?(e.zoomOffset--,e.minZoom=Math.min(e.maxZoom,e.minZoom+1)):(e.zoomOffset++,e.maxZoom=Math.max(e.minZoom,e.maxZoom-1)),e.minZoom=Math.max(0,e.minZoom)):e.zoomReverse?e.minZoom=Math.min(e.maxZoom,e.minZoom):e.maxZoom=Math.max(e.minZoom,e.maxZoom),"string"==typeof e.subdomains&&(e.subdomains=e.subdomains.split("")),this.on("tileunload",this._onTileRemove)},setUrl:function(t,e){return this._url===t&&void 0===e&&(e=!0),this._url=t,e||this.redraw(),this},createTile:function(t,e){var i=document.createElement("img");return S(i,"load",a(this._tileOnLoad,this,e,i)),S(i,"error",a(this._tileOnError,this,e,i)),!this.options.crossOrigin&&""!==this.options.crossOrigin||(i.crossOrigin=!0===this.options.crossOrigin?"":this.options.crossOrigin),"string"==typeof this.options.referrerPolicy&&(i.referrerPolicy=this.options.referrerPolicy),i.alt="",i.src=this.getTileUrl(t),i},getTileUrl:function(t){var e={r:b.retina?"@2x":"",s:this._getSubdomain(t),x:t.x,y:t.y,z:this._getZoomForUrl()};return this._map&&!this._map.options.crs.infinite&&(t=this._globalTileRange.max.y-t.y,this.options.tms&&(e.y=t),e["-y"]=t),q(this._url,l(e,this.options))},_tileOnLoad:function(t,e){b.ielt9?setTimeout(a(t,this,null,e),0):t(null,e)},_tileOnError:function(t,e,i){var n=this.options.errorTileUrl;n&&e.getAttribute("src")!==n&&(e.src=n),t(i,e)},_onTileRemove:function(t){t.tile.onload=null},_getZoomForUrl:function(){var t=this._tileZoom,e=this.options.maxZoom;return(t=this.options.zoomReverse?e-t:t)+this.options.zoomOffset},_getSubdomain:function(t){t=Math.abs(t.x+t.y)%this.options.subdomains.length;return this.options.subdomains[t]},_abortLoading:function(){var t,e,i;for(t in this._tiles)this._tiles[t].coords.z!==this._tileZoom&&((i=this._tiles[t].el).onload=u,i.onerror=u,i.complete||(i.src=K,e=this._tiles[t].coords,T(i),delete this._tiles[t],this.fire("tileabort",{tile:i,coords:e})))},_removeTile:function(t){var e=this._tiles[t];if(e)return e.el.setAttribute("src",K),Ri.prototype._removeTile.call(this,t)},_tileReady:function(t,e,i){if(this._map&&(!i||i.getAttribute("src")!==K))return Ri.prototype._tileReady.call(this,t,e,i)}});function Di(t,e){return new Ni(t,e)}var ji=Ni.extend({defaultWmsParams:{service:"WMS",request:"GetMap",layers:"",styles:"",format:"image/jpeg",transparent:!1,version:"1.1.1"},options:{crs:null,uppercase:!1},initialize:function(t,e){this._url=t;var i,n=l({},this.defaultWmsParams);for(i in e)i in this.options||(n[i]=e[i]);var t=(e=c(this,e)).detectRetina&&b.retina?2:1,o=this.getTileSize();n.width=o.x*t,n.height=o.y*t,this.wmsParams=n},onAdd:function(t){this._crs=this.options.crs||t.options.crs,this._wmsVersion=parseFloat(this.wmsParams.version);var e=1.3<=this._wmsVersion?"crs":"srs";this.wmsParams[e]=this._crs.code,Ni.prototype.onAdd.call(this,t)},getTileUrl:function(t){var e=this._tileCoordsToNwSe(t),i=this._crs,i=_(i.project(e[0]),i.project(e[1])),e=i.min,i=i.max,e=(1.3<=this._wmsVersion&&this._crs===hi?[e.y,e.x,i.y,i.x]:[e.x,e.y,i.x,i.y]).join(","),i=Ni.prototype.getTileUrl.call(this,t);return i+U(this.wmsParams,i,this.options.uppercase)+(this.options.uppercase?"&BBOX=":"&bbox=")+e},setParams:function(t,e){return l(this.wmsParams,t),e||this.redraw(),this}});Ni.WMS=ji,Di.wms=function(t,e){return new ji(t,e)};var Hi=o.extend({options:{padding:.1},initialize:function(t){c(this,t),h(this),this._layers=this._layers||{}},onAdd:function(){this._container||(this._initContainer(),this._zoomAnimated&&M(this._container,"leaflet-zoom-animated")),this.getPane().appendChild(this._container),this._update(),this.on("update",this._updatePaths,this)},onRemove:function(){this.off("update",this._updatePaths,this),this._destroyContainer()},getEvents:function(){var t={viewreset:this._reset,zoom:this._onZoom,moveend:this._update,zoomend:this._onZoomEnd};return this._zoomAnimated&&(t.zoomanim=this._onAnimZoom),t},_onAnimZoom:function(t){this._updateTransform(t.center,t.zoom)},_onZoom:function(){this._updateTransform(this._map.getCenter(),this._map.getZoom())},_updateTransform:function(t,e){var i=this._map.getZoomScale(e,this._zoom),n=this._map.getSize().multiplyBy(.5+this.options.padding),o=this._map.project(this._center,e),n=n.multiplyBy(-i).add(o).subtract(this._map._getNewPixelOrigin(t,e));b.any3d?be(this._container,n,i):Z(this._container,n)},_reset:function(){for(var t in this._update(),this._updateTransform(this._center,this._zoom),this._layers)this._layers[t]._reset()},_onZoomEnd:function(){for(var t in this._layers)this._layers[t]._project()},_updatePaths:function(){for(var t in this._layers)this._layers[t]._update()},_update:function(){var t=this.options.padding,e=this._map.getSize(),i=this._map.containerPointToLayerPoint(e.multiplyBy(-t)).round();this._bounds=new f(i,i.add(e.multiplyBy(1+2*t)).round()),this._center=this._map.getCenter(),this._zoom=this._map.getZoom()}}),Fi=Hi.extend({options:{tolerance:0},getEvents:function(){var t=Hi.prototype.getEvents.call(this);return t.viewprereset=this._onViewPreReset,t},_onViewPreReset:function(){this._postponeUpdatePaths=!0},onAdd:function(){Hi.prototype.onAdd.call(this),this._draw()},_initContainer:function(){var t=this._container=document.createElement("canvas");S(t,"mousemove",this._onMouseMove,this),S(t,"click dblclick mousedown mouseup contextmenu",this._onClick,this),S(t,"mouseout",this._handleMouseOut,this),t._leaflet_disable_events=!0,this._ctx=t.getContext("2d")},_destroyContainer:function(){r(this._redrawRequest),delete this._ctx,T(this._container),k(this._container),delete this._container},_updatePaths:function(){if(!this._postponeUpdatePaths){for(var t in this._redrawBounds=null,this._layers)this._layers[t]._update();this._redraw()}},_update:function(){var t,e,i,n;this._map._animatingZoom&&this._bounds||(Hi.prototype._update.call(this),t=this._bounds,e=this._container,i=t.getSize(),n=b.retina?2:1,Z(e,t.min),e.width=n*i.x,e.height=n*i.y,e.style.width=i.x+"px",e.style.height=i.y+"px",b.retina&&this._ctx.scale(2,2),this._ctx.translate(-t.min.x,-t.min.y),this.fire("update"))},_reset:function(){Hi.prototype._reset.call(this),this._postponeUpdatePaths&&(this._postponeUpdatePaths=!1,this._updatePaths())},_initPath:function(t){this._updateDashArray(t);t=(this._layers[h(t)]=t)._order={layer:t,prev:this._drawLast,next:null};this._drawLast&&(this._drawLast.next=t),this._drawLast=t,this._drawFirst=this._drawFirst||this._drawLast},_addPath:function(t){this._requestRedraw(t)},_removePath:function(t){var e=t._order,i=e.next,e=e.prev;i?i.prev=e:this._drawLast=e,e?e.next=i:this._drawFirst=i,delete t._order,delete this._layers[h(t)],this._requestRedraw(t)},_updatePath:function(t){this._extendRedrawBounds(t),t._project(),t._update(),this._requestRedraw(t)},_updateStyle:function(t){this._updateDashArray(t),this._requestRedraw(t)},_updateDashArray:function(t){if("string"==typeof t.options.dashArray){for(var e,i=t.options.dashArray.split(/[, ]+/),n=[],o=0;o<i.length;o++){if(e=Number(i[o]),isNaN(e))return;n.push(e)}t.options._dashArray=n}else t.options._dashArray=t.options.dashArray},_requestRedraw:function(t){this._map&&(this._extendRedrawBounds(t),this._redrawRequest=this._redrawRequest||x(this._redraw,this))},_extendRedrawBounds:function(t){var e;t._pxBounds&&(e=(t.options.weight||0)+1,this._redrawBounds=this._redrawBounds||new f,this._redrawBounds.extend(t._pxBounds.min.subtract([e,e])),this._redrawBounds.extend(t._pxBounds.max.add([e,e])))},_redraw:function(){this._redrawRequest=null,this._redrawBounds&&(this._redrawBounds.min._floor(),this._redrawBounds.max._ceil()),this._clear(),this._draw(),this._redrawBounds=null},_clear:function(){var t,e=this._redrawBounds;e?(t=e.getSize(),this._ctx.clearRect(e.min.x,e.min.y,t.x,t.y)):(this._ctx.save(),this._ctx.setTransform(1,0,0,1,0,0),this._ctx.clearRect(0,0,this._container.width,this._container.height),this._ctx.restore())},_draw:function(){var t,e,i=this._redrawBounds;this._ctx.save(),i&&(e=i.getSize(),this._ctx.beginPath(),this._ctx.rect(i.min.x,i.min.y,e.x,e.y),this._ctx.clip()),this._drawing=!0;for(var n=this._drawFirst;n;n=n.next)t=n.layer,(!i||t._pxBounds&&t._pxBounds.intersects(i))&&t._updatePath();this._drawing=!1,this._ctx.restore()},_updatePoly:function(t,e){if(this._drawing){var i,n,o,s,r=t._parts,a=r.length,h=this._ctx;if(a){for(h.beginPath(),i=0;i<a;i++){for(n=0,o=r[i].length;n<o;n++)s=r[i][n],h[n?"lineTo":"moveTo"](s.x,s.y);e&&h.closePath()}this._fillStroke(h,t)}}},_updateCircle:function(t){var e,i,n,o;this._drawing&&!t._empty()&&(e=t._point,i=this._ctx,n=Math.max(Math.round(t._radius),1),1!=(o=(Math.max(Math.round(t._radiusY),1)||n)/n)&&(i.save(),i.scale(1,o)),i.beginPath(),i.arc(e.x,e.y/o,n,0,2*Math.PI,!1),1!=o&&i.restore(),this._fillStroke(i,t))},_fillStroke:function(t,e){var i=e.options;i.fill&&(t.globalAlpha=i.fillOpacity,t.fillStyle=i.fillColor||i.color,t.fill(i.fillRule||"evenodd")),i.stroke&&0!==i.weight&&(t.setLineDash&&t.setLineDash(e.options&&e.options._dashArray||[]),t.globalAlpha=i.opacity,t.lineWidth=i.weight,t.strokeStyle=i.color,t.lineCap=i.lineCap,t.lineJoin=i.lineJoin,t.stroke())},_onClick:function(t){for(var e,i,n=this._map.mouseEventToLayerPoint(t),o=this._drawFirst;o;o=o.next)(e=o.layer).options.interactive&&e._containsPoint(n)&&(("click"===t.type||"preclick"===t.type)&&this._map._draggableMoved(e)||(i=e));this._fireEvent(!!i&&[i],t)},_onMouseMove:function(t){var e;!this._map||this._map.dragging.moving()||this._map._animatingZoom||(e=this._map.mouseEventToLayerPoint(t),this._handleMouseHover(t,e))},_handleMouseOut:function(t){var e=this._hoveredLayer;e&&(z(this._container,"leaflet-interactive"),this._fireEvent([e],t,"mouseout"),this._hoveredLayer=null,this._mouseHoverThrottled=!1)},_handleMouseHover:function(t,e){if(!this._mouseHoverThrottled){for(var i,n,o=this._drawFirst;o;o=o.next)(i=o.layer).options.interactive&&i._containsPoint(e)&&(n=i);n!==this._hoveredLayer&&(this._handleMouseOut(t),n&&(M(this._container,"leaflet-interactive"),this._fireEvent([n],t,"mouseover"),this._hoveredLayer=n)),this._fireEvent(!!this._hoveredLayer&&[this._hoveredLayer],t),this._mouseHoverThrottled=!0,setTimeout(a(function(){this._mouseHoverThrottled=!1},this),32)}},_fireEvent:function(t,e,i){this._map._fireDOMEvent(e,i||e.type,t)},_bringToFront:function(t){var e,i,n=t._order;n&&(e=n.next,i=n.prev,e&&((e.prev=i)?i.next=e:e&&(this._drawFirst=e),n.prev=this._drawLast,(this._drawLast.next=n).next=null,this._drawLast=n,this._requestRedraw(t)))},_bringToBack:function(t){var e,i,n=t._order;n&&(e=n.next,(i=n.prev)&&((i.next=e)?e.prev=i:i&&(this._drawLast=i),n.prev=null,n.next=this._drawFirst,this._drawFirst.prev=n,this._drawFirst=n,this._requestRedraw(t)))}});function Wi(t){return b.canvas?new Fi(t):null}var Ui=function(){try{return document.namespaces.add("lvml","urn:schemas-microsoft-com:vml"),function(t){return document.createElement("<lvml:"+t+' class="lvml">')}}catch(t){}return function(t){return document.createElement("<"+t+' xmlns="urn:schemas-microsoft.com:vml" class="lvml">')}}(),zt={_initContainer:function(){this._container=P("div","leaflet-vml-container")},_update:function(){this._map._animatingZoom||(Hi.prototype._update.call(this),this.fire("update"))},_initPath:function(t){var e=t._container=Ui("shape");M(e,"leaflet-vml-shape "+(this.options.className||"")),e.coordsize="1 1",t._path=Ui("path"),e.appendChild(t._path),this._updateStyle(t),this._layers[h(t)]=t},_addPath:function(t){var e=t._container;this._container.appendChild(e),t.options.interactive&&t.addInteractiveTarget(e)},_removePath:function(t){var e=t._container;T(e),t.removeInteractiveTarget(e),delete this._layers[h(t)]},_updateStyle:function(t){var e=t._stroke,i=t._fill,n=t.options,o=t._container;o.stroked=!!n.stroke,o.filled=!!n.fill,n.stroke?(e=e||(t._stroke=Ui("stroke")),o.appendChild(e),e.weight=n.weight+"px",e.color=n.color,e.opacity=n.opacity,n.dashArray?e.dashStyle=d(n.dashArray)?n.dashArray.join(" "):n.dashArray.replace(/( *, *)/g," "):e.dashStyle="",e.endcap=n.lineCap.replace("butt","flat"),e.joinstyle=n.lineJoin):e&&(o.removeChild(e),t._stroke=null),n.fill?(i=i||(t._fill=Ui("fill")),o.appendChild(i),i.color=n.fillColor||n.color,i.opacity=n.fillOpacity):i&&(o.removeChild(i),t._fill=null)},_updateCircle:function(t){var e=t._point.round(),i=Math.round(t._radius),n=Math.round(t._radiusY||i);this._setPath(t,t._empty()?"M0 0":"AL "+e.x+","+e.y+" "+i+","+n+" 0,23592600")},_setPath:function(t,e){t._path.v=e},_bringToFront:function(t){fe(t._container)},_bringToBack:function(t){ge(t._container)}},Vi=b.vml?Ui:ct,qi=Hi.extend({_initContainer:function(){this._container=Vi("svg"),this._container.setAttribute("pointer-events","none"),this._rootGroup=Vi("g"),this._container.appendChild(this._rootGroup)},_destroyContainer:function(){T(this._container),k(this._container),delete this._container,delete this._rootGroup,delete this._svgSize},_update:function(){var t,e,i;this._map._animatingZoom&&this._bounds||(Hi.prototype._update.call(this),e=(t=this._bounds).getSize(),i=this._container,this._svgSize&&this._svgSize.equals(e)||(this._svgSize=e,i.setAttribute("width",e.x),i.setAttribute("height",e.y)),Z(i,t.min),i.setAttribute("viewBox",[t.min.x,t.min.y,e.x,e.y].join(" ")),this.fire("update"))},_initPath:function(t){var e=t._path=Vi("path");t.options.className&&M(e,t.options.className),t.options.interactive&&M(e,"leaflet-interactive"),this._updateStyle(t),this._layers[h(t)]=t},_addPath:function(t){this._rootGroup||this._initContainer(),this._rootGroup.appendChild(t._path),t.addInteractiveTarget(t._path)},_removePath:function(t){T(t._path),t.removeInteractiveTarget(t._path),delete this._layers[h(t)]},_updatePath:function(t){t._project(),t._update()},_updateStyle:function(t){var e=t._path,t=t.options;e&&(t.stroke?(e.setAttribute("stroke",t.color),e.setAttribute("stroke-opacity",t.opacity),e.setAttribute("stroke-width",t.weight),e.setAttribute("stroke-linecap",t.lineCap),e.setAttribute("stroke-linejoin",t.lineJoin),t.dashArray?e.setAttribute("stroke-dasharray",t.dashArray):e.removeAttribute("stroke-dasharray"),t.dashOffset?e.setAttribute("stroke-dashoffset",t.dashOffset):e.removeAttribute("stroke-dashoffset")):e.setAttribute("stroke","none"),t.fill?(e.setAttribute("fill",t.fillColor||t.color),e.setAttribute("fill-opacity",t.fillOpacity),e.setAttribute("fill-rule",t.fillRule||"evenodd")):e.setAttribute("fill","none"))},_updatePoly:function(t,e){this._setPath(t,dt(t._parts,e))},_updateCircle:function(t){var e=t._point,i=Math.max(Math.round(t._radius),1),n="a"+i+","+(Math.max(Math.round(t._radiusY),1)||i)+" 0 1,0 ",e=t._empty()?"M0 0":"M"+(e.x-i)+","+e.y+n+2*i+",0 "+n+2*-i+",0 ";this._setPath(t,e)},_setPath:function(t,e){t._path.setAttribute("d",e)},_bringToFront:function(t){fe(t._path)},_bringToBack:function(t){ge(t._path)}});function Gi(t){return b.svg||b.vml?new qi(t):null}b.vml&&qi.include(zt),A.include({getRenderer:function(t){t=(t=t.options.renderer||this._getPaneRenderer(t.options.pane)||this.options.renderer||this._renderer)||(this._renderer=this._createRenderer());return this.hasLayer(t)||this.addLayer(t),t},_getPaneRenderer:function(t){var e;return"overlayPane"!==t&&void 0!==t&&(void 0===(e=this._paneRenderers[t])&&(e=this._createRenderer({pane:t}),this._paneRenderers[t]=e),e)},_createRenderer:function(t){return this.options.preferCanvas&&Wi(t)||Gi(t)}});var Ki=yi.extend({initialize:function(t,e){yi.prototype.initialize.call(this,this._boundsToLatLngs(t),e)},setBounds:function(t){return this.setLatLngs(this._boundsToLatLngs(t))},_boundsToLatLngs:function(t){return[(t=g(t)).getSouthWest(),t.getNorthWest(),t.getNorthEast(),t.getSouthEast()]}});qi.create=Vi,qi.pointsToPath=dt,xi.geometryToLayer=wi,xi.coordsToLatLng=Pi,xi.coordsToLatLngs=Li,xi.latLngToCoords=Ti,xi.latLngsToCoords=Mi,xi.getFeature=zi,xi.asFeature=Ci,A.mergeOptions({boxZoom:!0});var _t=n.extend({initialize:function(t){this._map=t,this._container=t._container,this._pane=t._panes.overlayPane,this._resetStateTimeout=0,t.on("unload",this._destroy,this)},addHooks:function(){S(this._container,"mousedown",this._onMouseDown,this)},removeHooks:function(){k(this._container,"mousedown",this._onMouseDown,this)},moved:function(){return this._moved},_destroy:function(){T(this._pane),delete this._pane},_resetState:function(){this._resetStateTimeout=0,this._moved=!1},_clearDeferredResetState:function(){0!==this._resetStateTimeout&&(clearTimeout(this._resetStateTimeout),this._resetStateTimeout=0)},_onMouseDown:function(t){if(!t.shiftKey||1!==t.which&&1!==t.button)return!1;this._clearDeferredResetState(),this._resetState(),re(),Le(),this._startPoint=this._map.mouseEventToContainerPoint(t),S(document,{contextmenu:Re,mousemove:this._onMouseMove,mouseup:this._onMouseUp,keydown:this._onKeyDown},this)},_onMouseMove:function(t){this._moved||(this._moved=!0,this._box=P("div","leaflet-zoom-box",this._container),M(this._container,"leaflet-crosshair"),this._map.fire("boxzoomstart")),this._point=this._map.mouseEventToContainerPoint(t);var t=new f(this._point,this._startPoint),e=t.getSize();Z(this._box,t.min),this._box.style.width=e.x+"px",this._box.style.height=e.y+"px"},_finish:function(){this._moved&&(T(this._box),z(this._container,"leaflet-crosshair")),ae(),Te(),k(document,{contextmenu:Re,mousemove:this._onMouseMove,mouseup:this._onMouseUp,keydown:this._onKeyDown},this)},_onMouseUp:function(t){1!==t.which&&1!==t.button||(this._finish(),this._moved&&(this._clearDeferredResetState(),this._resetStateTimeout=setTimeout(a(this._resetState,this),0),t=new s(this._map.containerPointToLatLng(this._startPoint),this._map.containerPointToLatLng(this._point)),this._map.fitBounds(t).fire("boxzoomend",{boxZoomBounds:t})))},_onKeyDown:function(t){27===t.keyCode&&(this._finish(),this._clearDeferredResetState(),this._resetState())}}),Ct=(A.addInitHook("addHandler","boxZoom",_t),A.mergeOptions({doubleClickZoom:!0}),n.extend({addHooks:function(){this._map.on("dblclick",this._onDoubleClick,this)},removeHooks:function(){this._map.off("dblclick",this._onDoubleClick,this)},_onDoubleClick:function(t){var e=this._map,i=e.getZoom(),n=e.options.zoomDelta,i=t.originalEvent.shiftKey?i-n:i+n;"center"===e.options.doubleClickZoom?e.setZoom(i):e.setZoomAround(t.containerPoint,i)}})),Zt=(A.addInitHook("addHandler","doubleClickZoom",Ct),A.mergeOptions({dragging:!0,inertia:!0,inertiaDeceleration:3400,inertiaMaxSpeed:1/0,easeLinearity:.2,worldCopyJump:!1,maxBoundsViscosity:0}),n.extend({addHooks:function(){var t;this._draggable||(t=this._map,this._draggable=new Je(t._mapPane,t._container),this._draggable.on({dragstart:this._onDragStart,drag:this._onDrag,dragend:this._onDragEnd},this),this._draggable.on("predrag",this._onPreDragLimit,this),t.options.worldCopyJump&&(this._draggable.on("predrag",this._onPreDragWrap,this),t.on("zoomend",this._onZoomEnd,this),t.whenReady(this._onZoomEnd,this))),M(this._map._container,"leaflet-grab leaflet-touch-drag"),this._draggable.enable(),this._positions=[],this._times=[]},removeHooks:function(){z(this._map._container,"leaflet-grab"),z(this._map._container,"leaflet-touch-drag"),this._draggable.disable()},moved:function(){return this._draggable&&this._draggable._moved},moving:function(){return this._draggable&&this._draggable._moving},_onDragStart:function(){var t,e=this._map;e._stop(),this._map.options.maxBounds&&this._map.options.maxBoundsViscosity?(t=g(this._map.options.maxBounds),this._offsetLimit=_(this._map.latLngToContainerPoint(t.getNorthWest()).multiplyBy(-1),this._map.latLngToContainerPoint(t.getSouthEast()).multiplyBy(-1).add(this._map.getSize())),this._viscosity=Math.min(1,Math.max(0,this._map.options.maxBoundsViscosity))):this._offsetLimit=null,e.fire("movestart").fire("dragstart"),e.options.inertia&&(this._positions=[],this._times=[])},_onDrag:function(t){var e,i;this._map.options.inertia&&(e=this._lastTime=+new Date,i=this._lastPos=this._draggable._absPos||this._draggable._newPos,this._positions.push(i),this._times.push(e),this._prunePositions(e)),this._map.fire("move",t).fire("drag",t)},_prunePositions:function(t){for(;1<this._positions.length&&50<t-this._times[0];)this._positions.shift(),this._times.shift()},_onZoomEnd:function(){var t=this._map.getSize().divideBy(2),e=this._map.latLngToLayerPoint([0,0]);this._initialWorldOffset=e.subtract(t).x,this._worldWidth=this._map.getPixelWorldBounds().getSize().x},_viscousLimit:function(t,e){return t-(t-e)*this._viscosity},_onPreDragLimit:function(){var t,e;this._viscosity&&this._offsetLimit&&(t=this._draggable._newPos.subtract(this._draggable._startPos),e=this._offsetLimit,t.x<e.min.x&&(t.x=this._viscousLimit(t.x,e.min.x)),t.y<e.min.y&&(t.y=this._viscousLimit(t.y,e.min.y)),t.x>e.max.x&&(t.x=this._viscousLimit(t.x,e.max.x)),t.y>e.max.y&&(t.y=this._viscousLimit(t.y,e.max.y)),this._draggable._newPos=this._draggable._startPos.add(t))},_onPreDragWrap:function(){var t=this._worldWidth,e=Math.round(t/2),i=this._initialWorldOffset,n=this._draggable._newPos.x,o=(n-e+i)%t+e-i,n=(n+e+i)%t-e-i,t=Math.abs(o+i)<Math.abs(n+i)?o:n;this._draggable._absPos=this._draggable._newPos.clone(),this._draggable._newPos.x=t},_onDragEnd:function(t){var e,i,n,o,s=this._map,r=s.options,a=!r.inertia||t.noInertia||this._times.length<2;s.fire("dragend",t),!a&&(this._prunePositions(+new Date),t=this._lastPos.subtract(this._positions[0]),a=(this._lastTime-this._times[0])/1e3,e=r.easeLinearity,a=(t=t.multiplyBy(e/a)).distanceTo([0,0]),i=Math.min(r.inertiaMaxSpeed,a),t=t.multiplyBy(i/a),n=i/(r.inertiaDeceleration*e),(o=t.multiplyBy(-n/2).round()).x||o.y)?(o=s._limitOffset(o,s.options.maxBounds),x(function(){s.panBy(o,{duration:n,easeLinearity:e,noMoveStart:!0,animate:!0})})):s.fire("moveend")}})),St=(A.addInitHook("addHandler","dragging",Zt),A.mergeOptions({keyboard:!0,keyboardPanDelta:80}),n.extend({keyCodes:{left:[37],right:[39],down:[40],up:[38],zoomIn:[187,107,61,171],zoomOut:[189,109,54,173]},initialize:function(t){this._map=t,this._setPanDelta(t.options.keyboardPanDelta),this._setZoomDelta(t.options.zoomDelta)},addHooks:function(){var t=this._map._container;t.tabIndex<=0&&(t.tabIndex="0"),S(t,{focus:this._onFocus,blur:this._onBlur,mousedown:this._onMouseDown},this),this._map.on({focus:this._addHooks,blur:this._removeHooks},this)},removeHooks:function(){this._removeHooks(),k(this._map._container,{focus:this._onFocus,blur:this._onBlur,mousedown:this._onMouseDown},this),this._map.off({focus:this._addHooks,blur:this._removeHooks},this)},_onMouseDown:function(){var t,e,i;this._focused||(i=document.body,t=document.documentElement,e=i.scrollTop||t.scrollTop,i=i.scrollLeft||t.scrollLeft,this._map._container.focus(),window.scrollTo(i,e))},_onFocus:function(){this._focused=!0,this._map.fire("focus")},_onBlur:function(){this._focused=!1,this._map.fire("blur")},_setPanDelta:function(t){for(var e=this._panKeys={},i=this.keyCodes,n=0,o=i.left.length;n<o;n++)e[i.left[n]]=[-1*t,0];for(n=0,o=i.right.length;n<o;n++)e[i.right[n]]=[t,0];for(n=0,o=i.down.length;n<o;n++)e[i.down[n]]=[0,t];for(n=0,o=i.up.length;n<o;n++)e[i.up[n]]=[0,-1*t]},_setZoomDelta:function(t){for(var e=this._zoomKeys={},i=this.keyCodes,n=0,o=i.zoomIn.length;n<o;n++)e[i.zoomIn[n]]=t;for(n=0,o=i.zoomOut.length;n<o;n++)e[i.zoomOut[n]]=-t},_addHooks:function(){S(document,"keydown",this._onKeyDown,this)},_removeHooks:function(){k(document,"keydown",this._onKeyDown,this)},_onKeyDown:function(t){if(!(t.altKey||t.ctrlKey||t.metaKey)){var e,i,n=t.keyCode,o=this._map;if(n in this._panKeys)o._panAnim&&o._panAnim._inProgress||(i=this._panKeys[n],t.shiftKey&&(i=m(i).multiplyBy(3)),o.options.maxBounds&&(i=o._limitOffset(m(i),o.options.maxBounds)),o.options.worldCopyJump?(e=o.wrapLatLng(o.unproject(o.project(o.getCenter()).add(i))),o.panTo(e)):o.panBy(i));else if(n in this._zoomKeys)o.setZoom(o.getZoom()+(t.shiftKey?3:1)*this._zoomKeys[n]);else{if(27!==n||!o._popup||!o._popup.options.closeOnEscapeKey)return;o.closePopup()}Re(t)}}})),Et=(A.addInitHook("addHandler","keyboard",St),A.mergeOptions({scrollWheelZoom:!0,wheelDebounceTime:40,wheelPxPerZoomLevel:60}),n.extend({addHooks:function(){S(this._map._container,"wheel",this._onWheelScroll,this),this._delta=0},removeHooks:function(){k(this._map._container,"wheel",this._onWheelScroll,this)},_onWheelScroll:function(t){var e=He(t),i=this._map.options.wheelDebounceTime,e=(this._delta+=e,this._lastMousePos=this._map.mouseEventToContainerPoint(t),this._startTime||(this._startTime=+new Date),Math.max(i-(+new Date-this._startTime),0));clearTimeout(this._timer),this._timer=setTimeout(a(this._performZoom,this),e),Re(t)},_performZoom:function(){var t=this._map,e=t.getZoom(),i=this._map.options.zoomSnap||0,n=(t._stop(),this._delta/(4*this._map.options.wheelPxPerZoomLevel)),n=4*Math.log(2/(1+Math.exp(-Math.abs(n))))/Math.LN2,i=i?Math.ceil(n/i)*i:n,n=t._limitZoom(e+(0<this._delta?i:-i))-e;this._delta=0,this._startTime=null,n&&("center"===t.options.scrollWheelZoom?t.setZoom(e+n):t.setZoomAround(this._lastMousePos,e+n))}})),kt=(A.addInitHook("addHandler","scrollWheelZoom",Et),A.mergeOptions({tapHold:b.touchNative&&b.safari&&b.mobile,tapTolerance:15}),n.extend({addHooks:function(){S(this._map._container,"touchstart",this._onDown,this)},removeHooks:function(){k(this._map._container,"touchstart",this._onDown,this)},_onDown:function(t){var e;clearTimeout(this._holdTimeout),1===t.touches.length&&(e=t.touches[0],this._startPos=this._newPos=new p(e.clientX,e.clientY),this._holdTimeout=setTimeout(a(function(){this._cancel(),this._isTapValid()&&(S(document,"touchend",O),S(document,"touchend touchcancel",this._cancelClickPrevent),this._simulateEvent("contextmenu",e))},this),600),S(document,"touchend touchcancel contextmenu",this._cancel,this),S(document,"touchmove",this._onMove,this))},_cancelClickPrevent:function t(){k(document,"touchend",O),k(document,"touchend touchcancel",t)},_cancel:function(){clearTimeout(this._holdTimeout),k(document,"touchend touchcancel contextmenu",this._cancel,this),k(document,"touchmove",this._onMove,this)},_onMove:function(t){t=t.touches[0];this._newPos=new p(t.clientX,t.clientY)},_isTapValid:function(){return this._newPos.distanceTo(this._startPos)<=this._map.options.tapTolerance},_simulateEvent:function(t,e){t=new MouseEvent(t,{bubbles:!0,cancelable:!0,view:window,screenX:e.screenX,screenY:e.screenY,clientX:e.clientX,clientY:e.clientY});t._simulated=!0,e.target.dispatchEvent(t)}})),Ot=(A.addInitHook("addHandler","tapHold",kt),A.mergeOptions({touchZoom:b.touch,bounceAtZoomLimits:!0}),n.extend({addHooks:function(){M(this._map._container,"leaflet-touch-zoom"),S(this._map._container,"touchstart",this._onTouchStart,this)},removeHooks:function(){z(this._map._container,"leaflet-touch-zoom"),k(this._map._container,"touchstart",this._onTouchStart,this)},_onTouchStart:function(t){var e,i,n=this._map;!t.touches||2!==t.touches.length||n._animatingZoom||this._zooming||(e=n.mouseEventToContainerPoint(t.touches[0]),i=n.mouseEventToContainerPoint(t.touches[1]),this._centerPoint=n.getSize()._divideBy(2),this._startLatLng=n.containerPointToLatLng(this._centerPoint),"center"!==n.options.touchZoom&&(this._pinchStartLatLng=n.containerPointToLatLng(e.add(i)._divideBy(2))),this._startDist=e.distanceTo(i),this._startZoom=n.getZoom(),this._moved=!1,this._zooming=!0,n._stop(),S(document,"touchmove",this._onTouchMove,this),S(document,"touchend touchcancel",this._onTouchEnd,this),O(t))},_onTouchMove:function(t){if(t.touches&&2===t.touches.length&&this._zooming){var e=this._map,i=e.mouseEventToContainerPoint(t.touches[0]),n=e.mouseEventToContainerPoint(t.touches[1]),o=i.distanceTo(n)/this._startDist;if(this._zoom=e.getScaleZoom(o,this._startZoom),!e.options.bounceAtZoomLimits&&(this._zoom<e.getMinZoom()&&o<1||this._zoom>e.getMaxZoom()&&1<o)&&(this._zoom=e._limitZoom(this._zoom)),"center"===e.options.touchZoom){if(this._center=this._startLatLng,1==o)return}else{i=i._add(n)._divideBy(2)._subtract(this._centerPoint);if(1==o&&0===i.x&&0===i.y)return;this._center=e.unproject(e.project(this._pinchStartLatLng,this._zoom).subtract(i),this._zoom)}this._moved||(e._moveStart(!0,!1),this._moved=!0),r(this._animRequest);n=a(e._move,e,this._center,this._zoom,{pinch:!0,round:!1},void 0);this._animRequest=x(n,this,!0),O(t)}},_onTouchEnd:function(){this._moved&&this._zooming?(this._zooming=!1,r(this._animRequest),k(document,"touchmove",this._onTouchMove,this),k(document,"touchend touchcancel",this._onTouchEnd,this),this._map.options.zoomAnimation?this._map._animateZoom(this._center,this._map._limitZoom(this._zoom),!0,this._map.options.zoomSnap):this._map._resetView(this._center,this._map._limitZoom(this._zoom))):this._zooming=!1}})),Yi=(A.addInitHook("addHandler","touchZoom",Ot),A.BoxZoom=_t,A.DoubleClickZoom=Ct,A.Drag=Zt,A.Keyboard=St,A.ScrollWheelZoom=Et,A.TapHold=kt,A.TouchZoom=Ot,t.Bounds=f,t.Browser=b,t.CRS=ot,t.Canvas=Fi,t.Circle=gi,t.CircleMarker=fi,t.Class=et,t.Control=B,t.DivIcon=Ii,t.DivOverlay=Oi,t.DomEvent=mt,t.DomUtil=pt,t.Draggable=Je,t.Evented=it,t.FeatureGroup=ui,t.GeoJSON=xi,t.GridLayer=Ri,t.Handler=n,t.Icon=ci,t.ImageOverlay=Si,t.LatLng=v,t.LatLngBounds=s,t.Layer=o,t.LayerGroup=li,t.LineUtil=gt,t.Map=A,t.Marker=pi,t.Mixin=ft,t.Path=mi,t.Point=p,t.PolyUtil=vt,t.Polygon=yi,t.Polyline=vi,t.Popup=Ai,t.PosAnimation=We,t.Projection=wt,t.Rectangle=Ki,t.Renderer=Hi,t.SVG=qi,t.SVGOverlay=ki,t.TileLayer=Ni,t.Tooltip=Bi,t.Transformation=at,t.Util=tt,t.VideoOverlay=Ei,t.bind=a,t.bounds=_,t.canvas=Wi,t.circle=function(t,e,i){return new gi(t,e,i)},t.circleMarker=function(t,e){return new fi(t,e)},t.control=Ue,t.divIcon=function(t){return new Ii(t)},t.extend=l,t.featureGroup=function(t,e){return new ui(t,e)},t.geoJSON=Zi,t.geoJson=Mt,t.gridLayer=function(t){return new Ri(t)},t.icon=function(t){return new ci(t)},t.imageOverlay=function(t,e,i){return new Si(t,e,i)},t.latLng=w,t.latLngBounds=g,t.layerGroup=function(t,e){return new li(t,e)},t.map=function(t,e){return new A(t,e)},t.marker=function(t,e){return new pi(t,e)},t.point=m,t.polygon=function(t,e){return new yi(t,e)},t.polyline=function(t,e){return new vi(t,e)},t.popup=function(t,e){return new Ai(t,e)},t.rectangle=function(t,e){return new Ki(t,e)},t.setOptions=c,t.stamp=h,t.svg=Gi,t.svgOverlay=function(t,e,i){return new ki(t,e,i)},t.tileLayer=Di,t.tooltip=function(t,e){return new Bi(t,e)},t.transformation=ht,t.version="1.9.3",t.videoOverlay=function(t,e,i){return new Ei(t,e,i)},window.L);t.noConflict=function(){return window.L=Yi,this},window.L=t});
+//# sourceMappingURL=leaflet.js.map
\ No newline at end of file
diff --git a/Basestation_Software.Web/wwwroot/leafletcontextmenu.css b/Basestation_Software.Web/wwwroot/leafletcontextmenu.css
new file mode 100644
index 0000000..0b5e2de
--- /dev/null
+++ b/Basestation_Software.Web/wwwroot/leafletcontextmenu.css
@@ -0,0 +1,54 @@
+.leaflet-contextmenu {
+    display: none;
+    box-shadow: 0 1px 7px rgba(0,0,0,0.4);
+    -webkit-border-radius: 4px;
+    border-radius: 4px;
+    padding: 4px 0;
+    background-color: #fff;
+    cursor: default;
+    -webkit-user-select: none;
+    -moz-user-select: none;
+    user-select: none;
+}
+
+.leaflet-contextmenu a.leaflet-contextmenu-item {
+    display: block;
+    color: #222;
+    font-size: 12px;
+    line-height: 20px;
+    text-decoration: none;
+    padding: 0 12px;
+    border-top: 1px solid transparent;
+    border-bottom: 1px solid transparent;
+    cursor: default;
+    outline: none;
+}
+
+.leaflet-contextmenu a.leaflet-contextmenu-item-disabled {
+    opacity: 0.5;
+}
+
+.leaflet-contextmenu a.leaflet-contextmenu-item.over {
+    background-color: #f4f4f4;
+    border-top: 1px solid #f0f0f0;
+    border-bottom: 1px solid #f0f0f0;
+}
+
+.leaflet-contextmenu a.leaflet-contextmenu-item-disabled.over {
+    background-color: inherit;
+    border-top: 1px solid transparent;
+    border-bottom: 1px solid transparent;
+}
+
+.leaflet-contextmenu-icon {
+    margin: 2px 8px 0 0;
+    width: 16px;
+    height: 16px;
+    float: left;
+    border: 0;
+}
+
+.leaflet-contextmenu-separator {
+    border-bottom: 1px solid #ccc;
+    margin: 5px 0;
+}
diff --git a/Basestation_Software.Web/wwwroot/leafletcontextmenu.js b/Basestation_Software.Web/wwwroot/leafletcontextmenu.js
new file mode 100644
index 0000000..58cd4d7
--- /dev/null
+++ b/Basestation_Software.Web/wwwroot/leafletcontextmenu.js
@@ -0,0 +1,586 @@
+/*
+	Leaflet.contextmenu, a context menu for Leaflet.
+	(c) 2015, Adam Ratcliffe, GeoSmart Maps Limited
+
+	@preserve
+*/
+
+(function(factory) {
+	// Packaging/modules magic dance
+	var L;
+	if (typeof define === 'function' && define.amd) {
+		// AMD
+		define(['leaflet'], factory);
+	} else if (typeof module === 'object' && typeof module.exports === 'object') {
+		// Node/CommonJS
+		L = require('leaflet');
+		module.exports = factory(L);
+	} else {
+		// Browser globals
+		if (typeof window.L === 'undefined') {
+			throw new Error('Leaflet must be loaded first');
+		}
+		factory(window.L);
+	}
+})(function(L) {
+L.Map.mergeOptions({
+    contextmenuItems: []
+});
+
+L.Map.ContextMenu = L.Handler.extend({
+    _touchstart: L.Browser.msPointer ? 'MSPointerDown' : L.Browser.pointer ? 'pointerdown' : 'touchstart',
+    
+    statics: {
+        BASE_CLS: 'leaflet-contextmenu'
+    },
+    
+    initialize: function (map) {
+        L.Handler.prototype.initialize.call(this, map);
+        
+        this._items = [];
+        this._visible = false;
+
+        var container = this._container = L.DomUtil.create('div', L.Map.ContextMenu.BASE_CLS, map._container);
+        container.style.zIndex = 10000;
+        container.style.position = 'absolute';
+
+        if (map.options.contextmenuWidth) {
+            container.style.width = map.options.contextmenuWidth + 'px';
+        }
+
+        this._createItems();
+
+        L.DomEvent
+            .on(container, 'click', L.DomEvent.stop)
+            .on(container, 'mousedown', L.DomEvent.stop)
+            .on(container, 'dblclick', L.DomEvent.stop)
+            .on(container, 'contextmenu', L.DomEvent.stop);
+    },
+
+    addHooks: function () {
+        var container = this._map.getContainer();
+
+        L.DomEvent
+            .on(container, 'mouseleave', this._hide, this)
+            .on(document, 'keydown', this._onKeyDown, this);
+
+        if (L.Browser.touch) {
+            L.DomEvent.on(document, this._touchstart, this._hide, this);
+        }
+
+        this._map.on({
+            contextmenu: this._show,
+            mousedown: this._hide,
+            movestart: this._hide,
+            zoomstart: this._hide
+        }, this);
+    },
+
+    removeHooks: function () {
+        var container = this._map.getContainer();
+
+        L.DomEvent
+            .off(container, 'mouseleave', this._hide, this)
+            .off(document, 'keydown', this._onKeyDown, this);
+
+        if (L.Browser.touch) {
+            L.DomEvent.off(document, this._touchstart, this._hide, this);
+        }
+
+        this._map.off({
+            contextmenu: this._show,
+            mousedown: this._hide,
+            movestart: this._hide,
+            zoomstart: this._hide
+        }, this);
+    },
+
+    showAt: function (point, data) {
+        if (point instanceof L.LatLng) {
+            point = this._map.latLngToContainerPoint(point);
+        }
+        this._showAtPoint(point, data);
+    },
+
+    hide: function () {
+        this._hide();
+    },
+
+    addItem: function (options) {
+        return this.insertItem(options);
+    },
+
+    insertItem: function (options, index) {
+        index = index !== undefined ? index: this._items.length;
+
+        var item = this._createItem(this._container, options, index);
+
+        this._items.push(item);
+
+        this._sizeChanged = true;
+
+        this._map.fire('contextmenu.additem', {
+            contextmenu: this,
+            el: item.el,
+            index: index
+        });
+
+        return item.el;
+    },
+
+    removeItem: function (item) {
+        var container = this._container;
+
+        if (!isNaN(item)) {
+            item = container.children[item];
+        }
+
+        if (item) {
+            this._removeItem(L.Util.stamp(item));
+
+            this._sizeChanged = true;
+
+            this._map.fire('contextmenu.removeitem', {
+                contextmenu: this,
+                el: item
+            });
+
+            return item;
+        }
+
+        return null;
+    },
+
+    removeAllItems: function () {
+        var items = this._container.children,
+            item;
+
+        while (items.length) {
+            item = items[0];
+            this._removeItem(L.Util.stamp(item));
+        }
+        return items;
+    },
+
+    hideAllItems: function () {
+        var item, i, l;
+
+        for (i = 0, l = this._items.length; i < l; i++) {
+            item = this._items[i];
+            item.el.style.display = 'none';
+        }
+    },
+
+    showAllItems: function () {
+        var item, i, l;
+
+        for (i = 0, l = this._items.length; i < l; i++) {
+            item = this._items[i];
+            item.el.style.display = '';
+        }
+    },
+
+    setDisabled: function (item, disabled) {
+        var container = this._container,
+        itemCls = L.Map.ContextMenu.BASE_CLS + '-item';
+
+        if (!isNaN(item)) {
+            item = container.children[item];
+        }
+
+        if (item && L.DomUtil.hasClass(item, itemCls)) {
+            if (disabled) {
+                L.DomUtil.addClass(item, itemCls + '-disabled');
+                this._map.fire('contextmenu.disableitem', {
+                    contextmenu: this,
+                    el: item
+                });
+            } else {
+                L.DomUtil.removeClass(item, itemCls + '-disabled');
+                this._map.fire('contextmenu.enableitem', {
+                    contextmenu: this,
+                    el: item
+                });
+            }
+        }
+    },
+
+    isVisible: function () {
+        return this._visible;
+    },
+
+    _createItems: function () {
+        var itemOptions = this._map.options.contextmenuItems,
+            item,
+            i, l;
+
+        for (i = 0, l = itemOptions.length; i < l; i++) {
+            this._items.push(this._createItem(this._container, itemOptions[i]));
+        }
+    },
+
+    _createItem: function (container, options, index) {
+        if (options.separator || options === '-') {
+            return this._createSeparator(container, index);
+        }
+
+        var itemCls = L.Map.ContextMenu.BASE_CLS + '-item',
+            cls = options.disabled ? (itemCls + ' ' + itemCls + '-disabled') : itemCls,
+            el = this._insertElementAt('a', cls, container, index),
+            callback = this._createEventHandler(el, options.callback, options.context, options.hideOnSelect),
+            icon = this._getIcon(options),
+            iconCls = this._getIconCls(options),
+            html = '';
+
+        if (icon) {
+            html = '<img class="' + L.Map.ContextMenu.BASE_CLS + '-icon" src="' + icon + '"/>';
+        } else if (iconCls) {
+            html = '<span class="' + L.Map.ContextMenu.BASE_CLS + '-icon ' + iconCls + '"></span>';
+        }
+
+        el.innerHTML = html + options.text;
+        el.href = '#';
+
+        L.DomEvent
+            .on(el, 'mouseover', this._onItemMouseOver, this)
+            .on(el, 'mouseout', this._onItemMouseOut, this)
+            .on(el, 'mousedown', L.DomEvent.stopPropagation)
+            .on(el, 'click', callback);
+
+        if (L.Browser.touch) {
+            L.DomEvent.on(el, this._touchstart, L.DomEvent.stopPropagation);
+        }
+
+        // Devices without a mouse fire "mouseover" on tap, but never “mouseout"
+        if (!L.Browser.pointer) {
+            L.DomEvent.on(el, 'click', this._onItemMouseOut, this);
+        }
+
+        return {
+            id: L.Util.stamp(el),
+            el: el,
+            callback: callback
+        };
+    },
+
+    _removeItem: function (id) {
+        var item,
+            el,
+            i, l, callback;
+
+        for (i = 0, l = this._items.length; i < l; i++) {
+            item = this._items[i];
+
+            if (item.id === id) {
+                el = item.el;
+                callback = item.callback;
+
+                if (callback) {
+                    L.DomEvent
+                        .off(el, 'mouseover', this._onItemMouseOver, this)
+                        .off(el, 'mouseover', this._onItemMouseOut, this)
+                        .off(el, 'mousedown', L.DomEvent.stopPropagation)
+                        .off(el, 'click', callback);
+
+                    if (L.Browser.touch) {
+                        L.DomEvent.off(el, this._touchstart, L.DomEvent.stopPropagation);
+                    }
+
+                    if (!L.Browser.pointer) {
+                        L.DomEvent.on(el, 'click', this._onItemMouseOut, this);
+                    }
+                }
+
+                this._container.removeChild(el);
+                this._items.splice(i, 1);
+
+                return item;
+            }
+        }
+        return null;
+    },
+
+    _createSeparator: function (container, index) {
+        var el = this._insertElementAt('div', L.Map.ContextMenu.BASE_CLS + '-separator', container, index);
+
+        return {
+            id: L.Util.stamp(el),
+            el: el
+        };
+    },
+
+    _createEventHandler: function (el, func, context, hideOnSelect) {
+        var me = this,
+            map = this._map,
+            disabledCls = L.Map.ContextMenu.BASE_CLS + '-item-disabled',
+            hideOnSelect = (hideOnSelect !== undefined) ? hideOnSelect : true;
+
+        return function (e) {
+            if (L.DomUtil.hasClass(el, disabledCls)) {
+                return;
+            }
+
+            if (hideOnSelect) {
+                me._hide();
+            }
+
+            if (func) {
+                func.call(context || map, me._showLocation);
+            }
+
+            me._map.fire('contextmenu.select', {
+                contextmenu: me,
+                el: el
+            });
+        };
+    },
+
+    _insertElementAt: function (tagName, className, container, index) {
+        var refEl,
+            el = document.createElement(tagName);
+
+        el.className = className;
+
+        if (index !== undefined) {
+            refEl = container.children[index];
+        }
+
+        if (refEl) {
+            container.insertBefore(el, refEl);
+        } else {
+            container.appendChild(el);
+        }
+
+        return el;
+    },
+
+    _show: function (e) {
+        this._showAtPoint(e.containerPoint, e);
+    },
+
+    _showAtPoint: function (pt, data) {
+        if (this._items.length) {
+            var map = this._map,
+            layerPoint = map.containerPointToLayerPoint(pt),
+            latlng = map.layerPointToLatLng(layerPoint),
+            event = L.extend(data || {}, {contextmenu: this});
+
+            this._showLocation = {
+                latlng: latlng,
+                layerPoint: layerPoint,
+                containerPoint: pt
+            };
+
+            if (data && data.relatedTarget){
+                this._showLocation.relatedTarget = data.relatedTarget;
+            }
+
+            this._setPosition(pt);
+
+            if (!this._visible) {
+                this._container.style.display = 'block';
+                this._visible = true;
+            }
+
+            this._map.fire('contextmenu.show', event);
+        }
+    },
+
+    _hide: function () {
+        if (this._visible) {
+            this._visible = false;
+            this._container.style.display = 'none';
+            this._map.fire('contextmenu.hide', {contextmenu: this});
+        }
+    },
+
+    _getIcon: function (options) {
+        return L.Browser.retina && options.retinaIcon || options.icon;
+    },
+
+    _getIconCls: function (options) {
+        return L.Browser.retina && options.retinaIconCls || options.iconCls;
+    },
+
+    _setPosition: function (pt) {
+        var mapSize = this._map.getSize(),
+            container = this._container,
+            containerSize = this._getElementSize(container),
+            anchor;
+
+        if (this._map.options.contextmenuAnchor) {
+            anchor = L.point(this._map.options.contextmenuAnchor);
+            pt = pt.add(anchor);
+        }
+
+        container._leaflet_pos = pt;
+
+        if (pt.x + containerSize.x > mapSize.x) {
+            container.style.left = 'auto';
+            container.style.right = Math.min(Math.max(mapSize.x - pt.x, 0), mapSize.x - containerSize.x - 1) + 'px';
+        } else {
+            container.style.left = Math.max(pt.x, 0) + 'px';
+            container.style.right = 'auto';
+        }
+
+        if (pt.y + containerSize.y > mapSize.y) {
+            container.style.top = 'auto';
+            container.style.bottom = Math.min(Math.max(mapSize.y - pt.y, 0), mapSize.y - containerSize.y - 1) + 'px';
+        } else {
+            container.style.top = Math.max(pt.y, 0) + 'px';
+            container.style.bottom = 'auto';
+        }
+    },
+
+    _getElementSize: function (el) {
+        var size = this._size,
+            initialDisplay = el.style.display;
+
+        if (!size || this._sizeChanged) {
+            size = {};
+
+            el.style.left = '-999999px';
+            el.style.right = 'auto';
+            el.style.display = 'block';
+
+            size.x = el.offsetWidth;
+            size.y = el.offsetHeight;
+
+            el.style.left = 'auto';
+            el.style.display = initialDisplay;
+
+            this._sizeChanged = false;
+        }
+
+        return size;
+    },
+
+    _onKeyDown: function (e) {
+        var key = e.keyCode;
+
+        // If ESC pressed and context menu is visible hide it
+        if (key === 27) {
+            this._hide();
+        }
+    },
+
+    _onItemMouseOver: function (e) {
+        L.DomUtil.addClass(e.target || e.srcElement, 'over');
+    },
+
+    _onItemMouseOut: function (e) {
+        L.DomUtil.removeClass(e.target || e.srcElement, 'over');
+    }
+});
+
+L.Map.addInitHook('addHandler', 'contextmenu', L.Map.ContextMenu);
+L.Mixin.ContextMenu = {
+    bindContextMenu: function (options) {
+        L.setOptions(this, options);
+        this._initContextMenu();
+
+        return this;
+    },
+
+    unbindContextMenu: function (){
+        this.off('contextmenu', this._showContextMenu, this);
+
+        return this;
+    },
+
+    addContextMenuItem: function (item) {
+            this.options.contextmenuItems.push(item);
+    },
+
+    removeContextMenuItemWithIndex: function (index) {
+        var items = [];
+        for (var i = 0; i < this.options.contextmenuItems.length; i++) {
+            if (this.options.contextmenuItems[i].index == index){
+                items.push(i);
+            }
+        }
+        var elem = items.pop();
+        while (elem !== undefined) {
+            this.options.contextmenuItems.splice(elem,1);
+            elem = items.pop();
+        }
+    },
+
+    replaceContextMenuItem: function (item) {
+        this.removeContextMenuItemWithIndex(item.index);
+        this.addContextMenuItem(item);
+    },
+
+    _initContextMenu: function () {
+        this._items = [];
+
+        this.on('contextmenu', this._showContextMenu, this);
+    },
+
+    _showContextMenu: function (e) {
+        var itemOptions,
+            data, pt, i, l;
+
+        if (this._map.contextmenu) {
+            data = L.extend({relatedTarget: this}, e);
+
+            pt = this._map.mouseEventToContainerPoint(e.originalEvent);
+
+            if (!this.options.contextmenuInheritItems) {
+                this._map.contextmenu.hideAllItems();
+            }
+
+            for (i = 0, l = this.options.contextmenuItems.length; i < l; i++) {
+                itemOptions = this.options.contextmenuItems[i];
+                this._items.push(this._map.contextmenu.insertItem(itemOptions, itemOptions.index));
+            }
+
+            this._map.once('contextmenu.hide', this._hideContextMenu, this);
+
+            this._map.contextmenu.showAt(pt, data);
+        }
+    },
+
+    _hideContextMenu: function () {
+        var i, l;
+
+        for (i = 0, l = this._items.length; i < l; i++) {
+            this._map.contextmenu.removeItem(this._items[i]);
+        }
+        this._items.length = 0;
+
+        if (!this.options.contextmenuInheritItems) {
+            this._map.contextmenu.showAllItems();
+        }
+    }
+};
+
+var classes = [L.Marker, L.Path],
+    defaultOptions = {
+        contextmenu: false,
+        contextmenuItems: [],
+        contextmenuInheritItems: true
+    },
+    cls, i, l;
+
+for (i = 0, l = classes.length; i < l; i++) {
+    cls = classes[i];
+
+    // L.Class should probably provide an empty options hash, as it does not test
+    // for it here and add if needed
+    if (!cls.prototype.options) {
+        cls.prototype.options = defaultOptions;
+    } else {
+        cls.mergeOptions(defaultOptions);
+    }
+
+    cls.addInitHook(function () {
+        if (this.options.contextmenu) {
+            this._initContextMenu();
+        }
+    });
+
+    cls.include(L.Mixin.ContextMenu);
+}
+return L.Map.ContextMenu;
+});

From a612198357d603eb3cb4ee52e8a35a285a013766 Mon Sep 17 00:00:00 2001
From: mjjm4d <threehalves1@gmail.com>
Date: Wed, 11 Sep 2024 23:31:06 -0500
Subject: [PATCH 02/15] Style changes

---
 Basestation_Software.Api/Data/data.db-shm       | Bin 0 -> 32768 bytes
 Basestation_Software.Api/Data/data.db-wal       |   0
 Basestation_Software.Web/Core/App.razor         |   6 +++---
 .../wwwroot/bootstrap-ext.css                   |   6 +++---
 4 files changed, 6 insertions(+), 6 deletions(-)
 create mode 100644 Basestation_Software.Api/Data/data.db-shm
 create mode 100644 Basestation_Software.Api/Data/data.db-wal

diff --git a/Basestation_Software.Api/Data/data.db-shm b/Basestation_Software.Api/Data/data.db-shm
new file mode 100644
index 0000000000000000000000000000000000000000..fe9ac2845eca6fe6da8a63cd096d9cf9e24ece10
GIT binary patch
literal 32768
zcmeIuAr62r3<XeTSayS60=Z=O-0|kP2&fu@!6Du^ziFC^7w55MN)9hQYV3Wk79a2P
z)%8g3H30$y2oNAZfB*pk1PBlyK!5-N0t5&UAV7cs0RjXF5FkK+009C72oNAZfB*pk
z1PBlyK!5-N0t5&UAV7cs0RjXF5FkK+009C72oNAZfB*pk1PBlyK!5-N0t5&UAV7cs
w0RjXF5FkK+009C72oNAZfB*pk1PBlyK!5-N0t5&UAV7cs0RjXF5cq?@4dk5`Qvd(}

literal 0
HcmV?d00001

diff --git a/Basestation_Software.Api/Data/data.db-wal b/Basestation_Software.Api/Data/data.db-wal
new file mode 100644
index 0000000..e69de29
diff --git a/Basestation_Software.Web/Core/App.razor b/Basestation_Software.Web/Core/App.razor
index ce8f82c..5a938ea 100644
--- a/Basestation_Software.Web/Core/App.razor
+++ b/Basestation_Software.Web/Core/App.razor
@@ -8,9 +8,9 @@
     <link rel="stylesheet" href="Basestation_Software.Web.styles.css" />
     <link rel="stylesheet" href="bootstrap/css/bootstrap.min.css" />
     <link rel="stylesheet" href="bootstrap/icons/font/bootstrap-icons.css"/>
-    <link rel="stylesheet" href="app.css" />
-    <link rel="stylesheet" href="radzen-ext.css" />
-    <link rel="stylesheet" href="bootstrap-ext.css" />
+    <link rel="stylesheet" href="app.css?version=0.1" />
+    <link rel="stylesheet" href="radzen-ext.css?version=0.1" />
+    <link rel="stylesheet" href="bootstrap-ext.css?version=0.1s" />
     <link rel="icon" type="image/png" href="favicon.png" />
     <HeadOutlet />
 </head>
diff --git a/Basestation_Software.Web/wwwroot/bootstrap-ext.css b/Basestation_Software.Web/wwwroot/bootstrap-ext.css
index 1b5a55a..f255a54 100644
--- a/Basestation_Software.Web/wwwroot/bootstrap-ext.css
+++ b/Basestation_Software.Web/wwwroot/bootstrap-ext.css
@@ -8,11 +8,11 @@
 }
 
 .card:hover {
-    box-shadow: 8px 8px 8px rgba(225, 3, 3, 0.692);
-    transform:scale(1.004);
+    box-shadow: 5px 5px 0px rgba(209, 3, 3, 0.692);
+/*    transform:scale(1.004);*/
 }
 
 .card {
     border:1px solid black;
-    transition:.3s;
+    transition:.25s;
 }
\ No newline at end of file

From 83cdd3f85ef7e15401c8c1da039c57817ff52adc Mon Sep 17 00:00:00 2001
From: mjjm4d <threehalves1@gmail.com>
Date: Sun, 15 Sep 2024 00:20:44 -0500
Subject: [PATCH 03/15] Header style fixes

---
 Basestation_Software.Api/Data/data.db           |   4 ++--
 Basestation_Software.Api/Data/data.db-shm       | Bin 32768 -> 0 bytes
 Basestation_Software.Api/Data/data.db-wal       |   0
 .../Core/Components/PingGraph.razor             |   2 +-
 .../Core/Components/RoverMap.razor              |   2 +-
 .../Core/Components/TaskTimers.razor            |   4 +---
 .../Core/Components/Waypoints.razor             |   8 ++++----
 .../wwwroot/bootstrap-ext.css                   |  13 +++++++++++++
 8 files changed, 22 insertions(+), 11 deletions(-)
 delete mode 100644 Basestation_Software.Api/Data/data.db-shm
 delete mode 100644 Basestation_Software.Api/Data/data.db-wal

diff --git a/Basestation_Software.Api/Data/data.db b/Basestation_Software.Api/Data/data.db
index c3cd7da..329fa60 100644
--- a/Basestation_Software.Api/Data/data.db
+++ b/Basestation_Software.Api/Data/data.db
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6091d10714744c155f8734b2a67b3b1e1dfbb62e969dcdaa0ac8e6f7d4a9f1c1
-size 2694078464
+oid sha256:b120ae6148fd2f53ade5c46b53c18e0f7b8af48a4e15e5e219e70c2d0141bb29
+size 2694189056
diff --git a/Basestation_Software.Api/Data/data.db-shm b/Basestation_Software.Api/Data/data.db-shm
deleted file mode 100644
index fe9ac2845eca6fe6da8a63cd096d9cf9e24ece10..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 32768
zcmeIuAr62r3<XeTSayS60=Z=O-0|kP2&fu@!6Du^ziFC^7w55MN)9hQYV3Wk79a2P
z)%8g3H30$y2oNAZfB*pk1PBlyK!5-N0t5&UAV7cs0RjXF5FkK+009C72oNAZfB*pk
z1PBlyK!5-N0t5&UAV7cs0RjXF5FkK+009C72oNAZfB*pk1PBlyK!5-N0t5&UAV7cs
w0RjXF5FkK+009C72oNAZfB*pk1PBlyK!5-N0t5&UAV7cs0RjXF5cq?@4dk5`Qvd(}

diff --git a/Basestation_Software.Api/Data/data.db-wal b/Basestation_Software.Api/Data/data.db-wal
deleted file mode 100644
index e69de29..0000000
diff --git a/Basestation_Software.Web/Core/Components/PingGraph.razor b/Basestation_Software.Web/Core/Components/PingGraph.razor
index 8d07fe8..cd9914f 100644
--- a/Basestation_Software.Web/Core/Components/PingGraph.razor
+++ b/Basestation_Software.Web/Core/Components/PingGraph.razor
@@ -10,7 +10,7 @@
 
 <div class="card full-height">
     <div class="card-header">
-        <h5>Ping Graph</h5>
+        <h3>Ping Graph</h3>
     </div>
     <div class="card-body scrollable">
         @if (!_dataLoaded)
diff --git a/Basestation_Software.Web/Core/Components/RoverMap.razor b/Basestation_Software.Web/Core/Components/RoverMap.razor
index d05eee2..f35f413 100644
--- a/Basestation_Software.Web/Core/Components/RoverMap.razor
+++ b/Basestation_Software.Web/Core/Components/RoverMap.razor
@@ -73,7 +73,7 @@
 <div class="card full-height" style="width: 650px">
     <div class="card-header">
         <div class="d-flex justify-content-between align-items-center">
-            <h5 class="mr-auto">Map</h5>
+            <h3>Map</h3>
             @if (_cachingMapTiles)
             {
                 <div>
diff --git a/Basestation_Software.Web/Core/Components/TaskTimers.razor b/Basestation_Software.Web/Core/Components/TaskTimers.razor
index 4f9788d..42d311f 100644
--- a/Basestation_Software.Web/Core/Components/TaskTimers.razor
+++ b/Basestation_Software.Web/Core/Components/TaskTimers.razor
@@ -33,9 +33,7 @@
 
 <div class="card full-height">
     <div class="card-header d-flex justify-content-between">
-        <div class="col">
-            <h4>Task Timer</h4>
-        </div>
+            <h3>Task Timer</h3>
         <div class="col text-end">
             <RadzenDropDown @bind-Value=@TimerTaskType Data=@(Enum.GetValues(typeof(TaskType)))></RadzenDropDown>
         </div>
diff --git a/Basestation_Software.Web/Core/Components/Waypoints.razor b/Basestation_Software.Web/Core/Components/Waypoints.razor
index eb83917..bec7c5b 100644
--- a/Basestation_Software.Web/Core/Components/Waypoints.razor
+++ b/Basestation_Software.Web/Core/Components/Waypoints.razor
@@ -5,14 +5,14 @@
     <div class="card-header">
         <div class="row">
             <div class="col-6 d-flex align-self-center">
-                <h5>Waypoints</h5>
-                <div class="border border-start-0 border-top-0 border-bottom-0 border-1">&nbsp;</div>
-                    <RadzenButton ButtonStyle="ButtonStyle.Dark" Text="New Waypoint" Click="@InsertRow" style="margin-left: 10px"  />
+                <h3>Waypoints</h3>
+                <div class="vr">&nbsp;</div>
+                    <RadzenButton ButtonStyle="ButtonStyle.Dark" Text="New Waypoint" Click="@InsertRow" />
             </div>
             <div class ="col-6 d-flex justify-content-end">
                 @if (_waypointsToUpdate.Count > 0 || _waypointsToInsert.Count > 0)
                 {
-                    <div class="border border-start-0 border-top-0 border-bottom-0 border-1">&nbsp;</div>
+                    <div class="vr">&nbsp;</div>
                     <RadzenButton ButtonStyle="ButtonStyle.Primary" Text="Save All" Click="@SaveAllEdits" style="margin-left: 10px; margin-right: 10px" />
                     <RadzenButton ButtonStyle="ButtonStyle.Danger" Text="Cancel All" Click="@CancelAllEdits" style="margin-right: 10px"  />
                 }
diff --git a/Basestation_Software.Web/wwwroot/bootstrap-ext.css b/Basestation_Software.Web/wwwroot/bootstrap-ext.css
index f255a54..2050338 100644
--- a/Basestation_Software.Web/wwwroot/bootstrap-ext.css
+++ b/Basestation_Software.Web/wwwroot/bootstrap-ext.css
@@ -3,6 +3,19 @@
     color: white;
 }
 
+.card-header h3 {
+    font-size: larger;
+    margin-block: auto;
+    height: 100%;
+    vertical-align: middle;
+}
+
+.card-header .vr {
+    width: 1px;
+    margin-inline: 10px;
+    opacity: 100%;
+}
+
 .card .read-more:hover {
     font-size: 14px;
 }

From f2a3d74a90d83c03016791f2e8140491d5facaeb Mon Sep 17 00:00:00 2001
From: mjjm4d <threehalves1@gmail.com>
Date: Sun, 15 Sep 2024 01:20:44 -0500
Subject: [PATCH 04/15] Style fixes

---
 Basestation_Software.Api/Data/data.db-shm       | Bin 0 -> 32768 bytes
 Basestation_Software.Api/Data/data.db-wal       |   0
 .../Core/Components/RoverMap.razor              |   4 ++--
 Basestation_Software.Web/Core/Pages/RED.razor   |   4 ++--
 4 files changed, 4 insertions(+), 4 deletions(-)
 create mode 100644 Basestation_Software.Api/Data/data.db-shm
 create mode 100644 Basestation_Software.Api/Data/data.db-wal

diff --git a/Basestation_Software.Api/Data/data.db-shm b/Basestation_Software.Api/Data/data.db-shm
new file mode 100644
index 0000000000000000000000000000000000000000..fe9ac2845eca6fe6da8a63cd096d9cf9e24ece10
GIT binary patch
literal 32768
zcmeIuAr62r3<XeTSayS60=Z=O-0|kP2&fu@!6Du^ziFC^7w55MN)9hQYV3Wk79a2P
z)%8g3H30$y2oNAZfB*pk1PBlyK!5-N0t5&UAV7cs0RjXF5FkK+009C72oNAZfB*pk
z1PBlyK!5-N0t5&UAV7cs0RjXF5FkK+009C72oNAZfB*pk1PBlyK!5-N0t5&UAV7cs
w0RjXF5FkK+009C72oNAZfB*pk1PBlyK!5-N0t5&UAV7cs0RjXF5cq?@4dk5`Qvd(}

literal 0
HcmV?d00001

diff --git a/Basestation_Software.Api/Data/data.db-wal b/Basestation_Software.Api/Data/data.db-wal
new file mode 100644
index 0000000..e69de29
diff --git a/Basestation_Software.Web/Core/Components/RoverMap.razor b/Basestation_Software.Web/Core/Components/RoverMap.razor
index f35f413..118df3e 100644
--- a/Basestation_Software.Web/Core/Components/RoverMap.razor
+++ b/Basestation_Software.Web/Core/Components/RoverMap.razor
@@ -70,7 +70,7 @@
     }
 </style>
 
-<div class="card full-height" style="width: 650px">
+<div class="card full-height">
     <div class="card-header">
         <div class="d-flex justify-content-between align-items-center">
             <h3>Map</h3>
@@ -94,7 +94,7 @@
         }
         else
         {
-            <div id="@ID" style="width: 645px; height: 460px; position: relative;"></div>
+            <div id="@ID" style="height: 460px; position: relative;"></div>
         }
     </div>
     <div class="card-footer" id="cursorPosition"></div>
diff --git a/Basestation_Software.Web/Core/Pages/RED.razor b/Basestation_Software.Web/Core/Pages/RED.razor
index 98650bf..3b4cb63 100644
--- a/Basestation_Software.Web/Core/Pages/RED.razor
+++ b/Basestation_Software.Web/Core/Pages/RED.razor
@@ -10,7 +10,7 @@
 
 <div class="container">
     <div class="row mt-3">
-        <div class="col-md-7">
+        <div class="col-md-7 g-1">
             <div class="row flex-grow-1">
                 <div class="col-12">
                     <Waypoints />
@@ -27,7 +27,7 @@
                 </div>
             </div>
         </div>
-        <div class="col-md-5">
+        <div class="col-md-5 g-1">
             <div class="row flex-grow-1">
                 <div class="col-12">
                     <RoverMap ID="mainmap" InitialLat=37.951764 InitialLong=-91.778441 InitialZoomLevel=18 />

From c1e350e81793af8d3106d38240155de46513d9bc Mon Sep 17 00:00:00 2001
From: mjjm4d <threehalves1@gmail.com>
Date: Sun, 15 Sep 2024 01:48:00 -0500
Subject: [PATCH 05/15] Header and other style fixes

---
 .../Core/Components/PingGraph.razor                 |  2 +-
 .../Core/Components/RoverMap.razor                  |  6 +++---
 .../Core/Components/TaskTimers.razor                |  4 +---
 .../Core/Components/Waypoints.razor                 |  8 ++++----
 Basestation_Software.Web/Core/Pages/RED.razor       |  4 ++--
 Basestation_Software.Web/wwwroot/bootstrap-ext.css  | 13 +++++++++++++
 6 files changed, 24 insertions(+), 13 deletions(-)

diff --git a/Basestation_Software.Web/Core/Components/PingGraph.razor b/Basestation_Software.Web/Core/Components/PingGraph.razor
index 8d07fe8..cd9914f 100644
--- a/Basestation_Software.Web/Core/Components/PingGraph.razor
+++ b/Basestation_Software.Web/Core/Components/PingGraph.razor
@@ -10,7 +10,7 @@
 
 <div class="card full-height">
     <div class="card-header">
-        <h5>Ping Graph</h5>
+        <h3>Ping Graph</h3>
     </div>
     <div class="card-body scrollable">
         @if (!_dataLoaded)
diff --git a/Basestation_Software.Web/Core/Components/RoverMap.razor b/Basestation_Software.Web/Core/Components/RoverMap.razor
index d05eee2..118df3e 100644
--- a/Basestation_Software.Web/Core/Components/RoverMap.razor
+++ b/Basestation_Software.Web/Core/Components/RoverMap.razor
@@ -70,10 +70,10 @@
     }
 </style>
 
-<div class="card full-height" style="width: 650px">
+<div class="card full-height">
     <div class="card-header">
         <div class="d-flex justify-content-between align-items-center">
-            <h5 class="mr-auto">Map</h5>
+            <h3>Map</h3>
             @if (_cachingMapTiles)
             {
                 <div>
@@ -94,7 +94,7 @@
         }
         else
         {
-            <div id="@ID" style="width: 645px; height: 460px; position: relative;"></div>
+            <div id="@ID" style="height: 460px; position: relative;"></div>
         }
     </div>
     <div class="card-footer" id="cursorPosition"></div>
diff --git a/Basestation_Software.Web/Core/Components/TaskTimers.razor b/Basestation_Software.Web/Core/Components/TaskTimers.razor
index 4f9788d..42d311f 100644
--- a/Basestation_Software.Web/Core/Components/TaskTimers.razor
+++ b/Basestation_Software.Web/Core/Components/TaskTimers.razor
@@ -33,9 +33,7 @@
 
 <div class="card full-height">
     <div class="card-header d-flex justify-content-between">
-        <div class="col">
-            <h4>Task Timer</h4>
-        </div>
+            <h3>Task Timer</h3>
         <div class="col text-end">
             <RadzenDropDown @bind-Value=@TimerTaskType Data=@(Enum.GetValues(typeof(TaskType)))></RadzenDropDown>
         </div>
diff --git a/Basestation_Software.Web/Core/Components/Waypoints.razor b/Basestation_Software.Web/Core/Components/Waypoints.razor
index eb83917..bec7c5b 100644
--- a/Basestation_Software.Web/Core/Components/Waypoints.razor
+++ b/Basestation_Software.Web/Core/Components/Waypoints.razor
@@ -5,14 +5,14 @@
     <div class="card-header">
         <div class="row">
             <div class="col-6 d-flex align-self-center">
-                <h5>Waypoints</h5>
-                <div class="border border-start-0 border-top-0 border-bottom-0 border-1">&nbsp;</div>
-                    <RadzenButton ButtonStyle="ButtonStyle.Dark" Text="New Waypoint" Click="@InsertRow" style="margin-left: 10px"  />
+                <h3>Waypoints</h3>
+                <div class="vr">&nbsp;</div>
+                    <RadzenButton ButtonStyle="ButtonStyle.Dark" Text="New Waypoint" Click="@InsertRow" />
             </div>
             <div class ="col-6 d-flex justify-content-end">
                 @if (_waypointsToUpdate.Count > 0 || _waypointsToInsert.Count > 0)
                 {
-                    <div class="border border-start-0 border-top-0 border-bottom-0 border-1">&nbsp;</div>
+                    <div class="vr">&nbsp;</div>
                     <RadzenButton ButtonStyle="ButtonStyle.Primary" Text="Save All" Click="@SaveAllEdits" style="margin-left: 10px; margin-right: 10px" />
                     <RadzenButton ButtonStyle="ButtonStyle.Danger" Text="Cancel All" Click="@CancelAllEdits" style="margin-right: 10px"  />
                 }
diff --git a/Basestation_Software.Web/Core/Pages/RED.razor b/Basestation_Software.Web/Core/Pages/RED.razor
index 98650bf..3b4cb63 100644
--- a/Basestation_Software.Web/Core/Pages/RED.razor
+++ b/Basestation_Software.Web/Core/Pages/RED.razor
@@ -10,7 +10,7 @@
 
 <div class="container">
     <div class="row mt-3">
-        <div class="col-md-7">
+        <div class="col-md-7 g-1">
             <div class="row flex-grow-1">
                 <div class="col-12">
                     <Waypoints />
@@ -27,7 +27,7 @@
                 </div>
             </div>
         </div>
-        <div class="col-md-5">
+        <div class="col-md-5 g-1">
             <div class="row flex-grow-1">
                 <div class="col-12">
                     <RoverMap ID="mainmap" InitialLat=37.951764 InitialLong=-91.778441 InitialZoomLevel=18 />
diff --git a/Basestation_Software.Web/wwwroot/bootstrap-ext.css b/Basestation_Software.Web/wwwroot/bootstrap-ext.css
index f255a54..2050338 100644
--- a/Basestation_Software.Web/wwwroot/bootstrap-ext.css
+++ b/Basestation_Software.Web/wwwroot/bootstrap-ext.css
@@ -3,6 +3,19 @@
     color: white;
 }
 
+.card-header h3 {
+    font-size: larger;
+    margin-block: auto;
+    height: 100%;
+    vertical-align: middle;
+}
+
+.card-header .vr {
+    width: 1px;
+    margin-inline: 10px;
+    opacity: 100%;
+}
+
 .card .read-more:hover {
     font-size: 14px;
 }

From 22cad7296b7b39a630b9b6eebb3f53df75f3469b Mon Sep 17 00:00:00 2001
From: Adam Klassen <akrd3@umsystem.edu>
Date: Sat, 21 Sep 2024 03:48:06 +0000
Subject: [PATCH 06/15] finished rovecomm first prototype

---
 .devcontainer/devcontainer.json               |   21 +-
 .../RoveComm/RoveCommManifest.cs              | 1034 +++++++++++++++++
 .../RoveComm/RoveCommPacket.cs                |   45 +
 .../RoveComm/RoveCommUtils.cs                 |  400 +++++++
 .../Core/Components/RoveCommExample.razor     |   91 ++
 Basestation_Software.Web/Core/Pages/RON.razor |    3 +
 .../Core/Services/RoveComm/RoveCommService.cs |  404 +++++++
 .../Core/Services/RoveComm/RoveCommTCP.cs     |  460 ++++++++
 .../Core/Services/RoveComm/RoveCommUDP.cs     |  354 ++++++
 Basestation_Software.Web/Core/_Imports.razor  |    5 +-
 Basestation_Software.Web/Program.cs           |    3 +
 11 files changed, 2818 insertions(+), 2 deletions(-)
 create mode 100644 Basestation_Software.Models/RoveComm/RoveCommManifest.cs
 create mode 100644 Basestation_Software.Models/RoveComm/RoveCommPacket.cs
 create mode 100644 Basestation_Software.Models/RoveComm/RoveCommUtils.cs
 create mode 100644 Basestation_Software.Web/Core/Components/RoveCommExample.razor
 create mode 100644 Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
 create mode 100644 Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
 create mode 100644 Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 2be2d74..80075d9 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -41,7 +41,26 @@
 	// "features": {},
 
 	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	// "forwardPorts": [],
+	"forwardPorts": [
+		11000,
+		12000
+	],
+
+	"portsAttributes": {
+		"11000": {
+			"label": "RoveComm UDP",
+			"onAutoForward": "notify"
+		},
+		"12000": {
+			"label": "RoveComm TCP",
+			"onAutoForward": "notify"
+		}
+	},
+
+	"appPort": [
+		"11000:11000/udp",
+		"12000:12000/tcp"
+	],
 
 	// Use 'postCreateCommand' to run commands after the container is created.
 	"postCreateCommand": "dotnet tool install --global dotnet-ef --verbosity diagnostic && dotnet tool install --global dotnet-aspnet-codegenerator --verbosity diagnostic",
diff --git a/Basestation_Software.Models/RoveComm/RoveCommManifest.cs b/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
new file mode 100644
index 0000000..abc2f33
--- /dev/null
+++ b/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
@@ -0,0 +1,1034 @@
+namespace Basestation_Software.Models.RoveComm;
+
+public static class RoveCommConsts
+{
+    public static readonly int RoveCommVersion = 3;
+    public static readonly int UDPPort = 11000;
+    public static readonly int TCPPort = 12000;
+    public static readonly int HeaderSize = 6;
+    public static readonly int MaxDataSize = 65535 / 3;
+}
+
+public enum RoveCommDataType
+{
+    INT8_T = 0,
+    UINT8_T = 1,
+    INT16_T = 2,
+    UINT16_T = 3,
+    INT32_T = 4,
+    UINT32_T = 5,
+    FLOAT = 6,
+    DOUBLE = 7,
+    CHAR = 8,
+}
+
+public class RoveCommBoardDesc
+{
+    public string IP { get; init; }
+    public IReadOnlyDictionary<string, RoveCommPacketDesc> Commands { get; init; }
+    public IReadOnlyDictionary<string, RoveCommPacketDesc> Telemetry { get; init; }
+    public IReadOnlyDictionary<string, RoveCommPacketDesc> Errors { get; init; }
+
+    public RoveCommBoardDesc(string ip,
+                             IReadOnlyDictionary<string, RoveCommPacketDesc>? commands = null,
+                             IReadOnlyDictionary<string, RoveCommPacketDesc>? telemetry = null,
+                             IReadOnlyDictionary<string, RoveCommPacketDesc>? errors = null)
+    {
+        IP = ip;
+        Commands = commands ?? new Dictionary<string, RoveCommPacketDesc>();
+        Telemetry = telemetry ?? new Dictionary<string, RoveCommPacketDesc>();
+        Errors = errors ?? new Dictionary<string, RoveCommPacketDesc>();
+    }
+}
+
+
+public class RoveCommPacketDesc
+{
+    public int DataID { get; init; }
+    public int DataCount { get; init; }
+    public RoveCommDataType DataType { get; init; }
+
+    public RoveCommPacketDesc(int dataId, int dataCount, RoveCommDataType dataType)
+    {
+        DataID = dataId;
+        DataCount = dataCount;
+        DataType = dataType;
+    }
+}
+
+public static class RoveCommManifest
+{
+    public static class SystemPackets
+    {
+        public static readonly int PING = 1;
+        public static readonly int PING_REPLY = 2;
+        public static readonly int SUBSCRIBE = 3;
+        public static readonly int UNSUBSCRIBE = 4;
+        public static readonly int INVALID_VERSION = 5;
+        public static readonly int NO_DATA = 6;
+    }
+
+    public static readonly IReadOnlyDictionary<string, RoveCommBoardDesc> Boards = new Dictionary<string, RoveCommBoardDesc>
+    {
+        ["Core"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.2.110",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [LeftSpeed, RightSpeed] (-1, 1)-> (-100%, 100%)
+                ["DriveLeftRight"] = new RoveCommPacketDesc
+                (
+                    3000,
+                    2,
+                    RoveCommDataType.FLOAT
+                ),
+                // [LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%)
+                ["DriveIndividual"] = new RoveCommPacketDesc
+                (
+                    3001,
+                    6,
+                    RoveCommDataType.FLOAT
+                ),
+                // [0-override off, 1-override on]
+                ["WatchdogOverride"] = new RoveCommPacketDesc
+                (
+                    3002,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Tilt](degrees -180-180)
+                ["LeftDriveGimbalIncrement"] = new RoveCommPacketDesc
+                (
+                    3003,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // [Tilt](degrees -180-180)
+                ["RightDriveGimbalIncrement"] = new RoveCommPacketDesc
+                (
+                    3004,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // [Pan, Tilt](degrees -180-180)
+                ["LeftMainGimbalIncrement"] = new RoveCommPacketDesc
+                (
+                    3005,
+                    2,
+                    RoveCommDataType.INT16_T
+                ),
+                // [Pan, Tilt](degrees -180-180)
+                ["RightMainGimbalIncrement"] = new RoveCommPacketDesc
+                (
+                    3006,
+                    2,
+                    RoveCommDataType.INT16_T
+                ),
+                // [Tilt](degrees -180-180)
+                ["BackDriveGimbalIncrement"] = new RoveCommPacketDesc
+                (
+                    3007,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // [R, G, B] (0, 255)
+                ["LEDRGB"] = new RoveCommPacketDesc
+                (
+                    3008,
+                    3,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Pattern] (Enum)
+                ["LEDPatterns"] = new RoveCommPacketDesc
+                (
+                    3009,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Teleop, Autonomy, Reached Goal] (enum)
+                ["StateDisplay"] = new RoveCommPacketDesc
+                (
+                    3010,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Set Brightness (0-255)
+                ["Brightness"] = new RoveCommPacketDesc
+                (
+                    3011,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // 0: Teleop, 1: Autonomy
+                ["SetWatchdogMode"] = new RoveCommPacketDesc
+                (
+                    3012,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Set the message to display on the lighting panel; null terminator ends string early
+                ["LEDText"] = new RoveCommPacketDesc
+                (
+                    3013,
+                    256,
+                    RoveCommDataType.CHAR
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%)
+                ["DriveSpeeds"] = new RoveCommPacketDesc
+                (
+                    3100,
+                    6,
+                    RoveCommDataType.FLOAT
+                ),
+                // [Roll, Pitch, Yaw] degrees
+                ["IMUData"] = new RoveCommPacketDesc
+                (
+                    3101,
+                    3,
+                    RoveCommDataType.FLOAT
+                ),
+                // [xAxis, yAxis, zAxis] Accel in m/s^2
+                ["AccelerometerData"] = new RoveCommPacketDesc
+                (
+                    3102,
+                    3,
+                    RoveCommDataType.FLOAT
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            }
+        ),
+        ["PMS"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.2.102",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Power off all systems except network (PMS will stay on)
+                ["EStop"] = new RoveCommPacketDesc
+                (
+                    4000,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Power off all systems including network, cannot recover without physical reboot (PMS will stay on)
+                ["Suicide"] = new RoveCommPacketDesc
+                (
+                    4001,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Cycle all systems including network off and back on (PMS will stay on)
+                ["Reboot"] = new RoveCommPacketDesc
+                (
+                    4002,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Motor, Core, Aux] (bitmasked) [1-Enable, 0-No change]
+                ["EnableBus"] = new RoveCommPacketDesc
+                (
+                    4003,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Motor, Core, Aux] (bitmasked) [1-Disable, 0-No change]
+                ["DisableBus"] = new RoveCommPacketDesc
+                (
+                    4004,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Motor, Core, Aux] (bitmasked) [1-Enable, 0-Disable]
+                ["SetBus"] = new RoveCommPacketDesc
+                (
+                    4005,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Total current draw from battery
+                ["PackCurrent"] = new RoveCommPacketDesc
+                (
+                    4100,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // Pack voltage
+                ["PackVoltage"] = new RoveCommPacketDesc
+                (
+                    4101,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // C1, C2, C3, C4, C5, C6
+                ["CellVoltage"] = new RoveCommPacketDesc
+                (
+                    4102,
+                    6,
+                    RoveCommDataType.FLOAT
+                ),
+                // Current draw by aux systems (before 12V buck)
+                ["AuxCurrent"] = new RoveCommPacketDesc
+                (
+                    4103,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // Current draw from other devices (CS1, CS2, CS3)
+                ["MiscCurrent"] = new RoveCommPacketDesc
+                (
+                    4104,
+                    3,
+                    RoveCommDataType.FLOAT
+                ),
+                // [Motor, Core, Aux, Network] (bitmasked) [1-Enabled, 0-Disabled]
+                ["BusStatus"] = new RoveCommPacketDesc
+                (
+                    4105,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Higher current draw than the battery can support. Rover will Reboot automatically
+                ["PackOvercurrent"] = new RoveCommPacketDesc
+                (
+                    4200,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // (bitmasked) [1-Undervolt, 0-OK]. Rover will EStop automatically
+                ["CellUndervoltage"] = new RoveCommPacketDesc
+                (
+                    4201,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // (bitmasked) [1-Critical, 0-OK]. Rover will Suicide automatically
+                ["CellCritical"] = new RoveCommPacketDesc
+                (
+                    4202,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Aux system current draw too high. Rover will disable Aux bus automatically
+                ["AuxOvercurrent"] = new RoveCommPacketDesc
+                (
+                    4203,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            }
+        ),
+        ["Nav"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.2.104",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [Lat, Long, Alt] [(-90, 90), (-180, 180)(deg), (0, 1000)]
+                ["GPSLatLonAlt"] = new RoveCommPacketDesc
+                (
+                    6100,
+                    3,
+                    RoveCommDataType.DOUBLE
+                ),
+                // [Pitch, Yaw, Roll] [(-90, 90), (0, 360), (-90, 90)] (deg)
+                ["IMUData"] = new RoveCommPacketDesc
+                (
+                    6101,
+                    3,
+                    RoveCommDataType.FLOAT
+                ),
+                // [Heading] [ 0, 360 ]
+                ["CompassData"] = new RoveCommPacketDesc
+                (
+                    6102,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // [Number of satellites]
+                ["SatelliteCountData"] = new RoveCommPacketDesc
+                (
+                    6103,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [xAxis, yAxis, zAxis] Accel in m/s^2
+                ["AccelerometerData"] = new RoveCommPacketDesc
+                (
+                    6104,
+                    3,
+                    RoveCommDataType.FLOAT
+                ),
+                // [horizontal_accur, vertical_accur, heading_accur, fix_type, is_differentia] [meters, meters, degrees, ublox_navpvt fix type (http://docs.ros.org/en/noetic/api/ublox_msgs/html/msg/NavPVT.html), boolean]
+                ["AccuracyData"] = new RoveCommPacketDesc
+                (
+                    6105,
+                    5,
+                    RoveCommDataType.FLOAT
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // 
+                ["GPSLockError"] = new RoveCommPacketDesc
+                (
+                    6200,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            }
+        ),
+        ["BaseStationNav"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.100.112"
+        ),
+        ["SignalStack"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.100.101",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Motor decipercent [-1000, 1000]
+                ["OpenLoop"] = new RoveCommPacketDesc
+                (
+                    7000,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // [Heading] [0, 360)
+                ["SetAngleTarget"] = new RoveCommPacketDesc
+                (
+                    7001,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // [Rover Lat, Rover Long, Basestation Lat, Basestation Long] [Lat:(-90, 90), Long:(-180, 180)] (deg)
+                ["SetGPSTarget"] = new RoveCommPacketDesc
+                (
+                    7002,
+                    4,
+                    RoveCommDataType.DOUBLE
+                ),
+                // [0-override off, 1-override on]
+                ["WatchdogOverride"] = new RoveCommPacketDesc
+                (
+                    7003,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [Heading] [0, 360)
+                ["CompassAngle"] = new RoveCommPacketDesc
+                (
+                    7100,
+                    1,
+                    RoveCommDataType.FLOAT
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // (1-Watchdog timeout, 0-OK)
+                ["WatchdogStatus"] = new RoveCommPacketDesc
+                (
+                    7200,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            }
+        ),
+        ["Arm"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.2.107",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [X, Y1, Y2, Z, P, R] Motor decipercent [-1000, 1000]
+                ["OpenLoop"] = new RoveCommPacketDesc
+                (
+                    8000,
+                    6,
+                    RoveCommDataType.INT16_T
+                ),
+                // [X, Y1, Y2, Z, P, R] (in, in, in, in, deg, deg)
+                ["SetPosition"] = new RoveCommPacketDesc
+                (
+                    8001,
+                    6,
+                    RoveCommDataType.FLOAT
+                ),
+                // [X, Y, Z, P, R] (in, in, in, deg, deg, deg)
+                ["IncrementPosition"] = new RoveCommPacketDesc
+                (
+                    8002,
+                    5,
+                    RoveCommDataType.FLOAT
+                ),
+                // [X, Y, Z, P, R] (in, in, in, deg, deg)
+                ["SetIK"] = new RoveCommPacketDesc
+                (
+                    8003,
+                    5,
+                    RoveCommDataType.FLOAT
+                ),
+                // [X, Y, Z, P, R] (in, in, in, deg, deg)
+                ["IncrementIK_RoverRelative"] = new RoveCommPacketDesc
+                (
+                    8004,
+                    5,
+                    RoveCommDataType.FLOAT
+                ),
+                // [X, Y, Z, P, R] (in, in, in, deg, deg)
+                ["IncrementIK_WristRelative"] = new RoveCommPacketDesc
+                (
+                    8005,
+                    5,
+                    RoveCommDataType.FLOAT
+                ),
+                // [0-disable, 1-enable]
+                ["Laser"] = new RoveCommPacketDesc
+                (
+                    8006,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [0-retract, 1-extend]
+                ["Solenoid"] = new RoveCommPacketDesc
+                (
+                    8007,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Motor decipercent [-1000, 1000]
+                ["Gripper"] = new RoveCommPacketDesc
+                (
+                    8008,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // [0-override off, 1-override on]
+                ["WatchdogOverride"] = new RoveCommPacketDesc
+                (
+                    8009,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, P+, P-] (0-override off, 1-override on) (bitmasked)
+                ["LimitSwitchOverride"] = new RoveCommPacketDesc
+                (
+                    8010,
+                    1,
+                    RoveCommDataType.UINT16_T
+                ),
+                // [X, Y1, Y2, Z, P, R1, R2] (1-calibrate, 0-no action) (bitmasked)
+                ["CalibrateEncoder"] = new RoveCommPacketDesc
+                (
+                    8011,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Toggle gripper and roll motors controlled by other packets; 0-Gripper1, 1-Gripper2
+                ["SelectGripper"] = new RoveCommPacketDesc
+                (
+                    8012,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, P+, P-] (0-override off, 1-override on) (bitmasked)
+                ["SoftLimitOverride"] = new RoveCommPacketDesc
+                (
+                    8013,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [X, Y1, Y2, Z, Pitch, Roll1, Roll2] (in, in, in, in, deg, deg, deg)
+                ["Positions"] = new RoveCommPacketDesc
+                (
+                    8100,
+                    7,
+                    RoveCommDataType.FLOAT
+                ),
+                // [X, Y, Z, P, R] (in, in, in, deg, deg)
+                ["Coordinates"] = new RoveCommPacketDesc
+                (
+                    8101,
+                    5,
+                    RoveCommDataType.FLOAT
+                ),
+                // [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, Pitch+, Pitch-] (0-off, 1-on) (bitmasked)
+                ["LimitSwitchTriggered"] = new RoveCommPacketDesc
+                (
+                    8102,
+                    1,
+                    RoveCommDataType.UINT16_T
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // (1-Watchdog timeout, 0-OK)
+                ["WatchdogStatus"] = new RoveCommPacketDesc
+                (
+                    8200,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            }
+        ),
+        ["ScienceActuation"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.2.108",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Motor decipercent [-1000, 1000]
+                ["ScoopAxis_OpenLoop"] = new RoveCommPacketDesc
+                (
+                    9000,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // Motor decipercent [-1000, 1000]
+                ["SensorAxis_OpenLoop"] = new RoveCommPacketDesc
+                (
+                    9001,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // Absolute position (in)
+                ["ScoopAxis_SetPosition"] = new RoveCommPacketDesc
+                (
+                    9002,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // Absolute position (in)
+                ["SensorAxis_SetPosition"] = new RoveCommPacketDesc
+                (
+                    9003,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // (in)
+                ["ScoopAxis_IncrementPosition"] = new RoveCommPacketDesc
+                (
+                    9004,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // (in)
+                ["SensorAxis_IncrementPosition"] = new RoveCommPacketDesc
+                (
+                    9005,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // [ScoopAxis+, ScoopAxis-, SensorAxis+, SensorAxis-] (0-override off, 1-override on) (bitmasked)
+                ["LimitSwitchOverride"] = new RoveCommPacketDesc
+                (
+                    9006,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Motor decipercent [-1000, 1000]
+                ["Auger"] = new RoveCommPacketDesc
+                (
+                    9007,
+                    1,
+                    RoveCommDataType.INT16_T
+                ),
+                // [0-180] (degrees)
+                ["Microscope"] = new RoveCommPacketDesc
+                (
+                    9008,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [0-override off, 1-override on]
+                ["WatchdogOverride"] = new RoveCommPacketDesc
+                (
+                    9010,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [ScoopAxis, SensorAxis, Proboscis] (1-calibrate, 0-no action) (bitmasked)
+                ["CalibrateEncoder"] = new RoveCommPacketDesc
+                (
+                    9011,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Request the humidity of the instrument
+                ["RequestHumidity"] = new RoveCommPacketDesc
+                (
+                    9012,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Pan, Tilt](degrees -180-180)
+                ["AugerGimbalIncrement"] = new RoveCommPacketDesc
+                (
+                    9013,
+                    2,
+                    RoveCommDataType.INT16_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [ScoopAxis, SensorAxis] (in)
+                ["Positions"] = new RoveCommPacketDesc
+                (
+                    9100,
+                    2,
+                    RoveCommDataType.FLOAT
+                ),
+                // [ScoopAxis+, ScoopAxis-, SensorAxis+, SensorAxis-] (0-off, 1-on) (bitmasked)
+                ["LimitSwitchTriggered"] = new RoveCommPacketDesc
+                (
+                    9101,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Humidity] (relative humidity %)
+                ["Humidity"] = new RoveCommPacketDesc
+                (
+                    9102,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // (in/s)
+                ["AugerSpeed"] = new RoveCommPacketDesc
+                (
+                    9103,
+                    1,
+                    RoveCommDataType.FLOAT
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // (1-Watchdog timeout, 0-OK)
+                ["WatchdogStatus"] = new RoveCommPacketDesc
+                (
+                    9200,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // (1-Stalled, 0-OK)
+                ["AugerStalled"] = new RoveCommPacketDesc
+                (
+                    9201,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            }
+        ),
+        ["Autonomy"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.3.100",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // 
+                ["StartAutonomy"] = new RoveCommPacketDesc
+                (
+                    11000,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // 
+                ["DisableAutonomy"] = new RoveCommPacketDesc
+                (
+                    11001,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Lat, Lon]
+                ["AddPositionLeg"] = new RoveCommPacketDesc
+                (
+                    11002,
+                    2,
+                    RoveCommDataType.DOUBLE
+                ),
+                // [Lat, Lon]
+                ["AddMarkerLeg"] = new RoveCommPacketDesc
+                (
+                    11003,
+                    2,
+                    RoveCommDataType.DOUBLE
+                ),
+                // [Lat, Lon]
+                ["AddObjectLeg"] = new RoveCommPacketDesc
+                (
+                    11004,
+                    2,
+                    RoveCommDataType.DOUBLE
+                ),
+                // 
+                ["ClearWaypoints"] = new RoveCommPacketDesc
+                (
+                    11005,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // A multiplier from 0.0 to 1.0 that will scale the max power effort of Autonomy
+                ["SetMaxSpeed"] = new RoveCommPacketDesc
+                (
+                    11006,
+                    1,
+                    RoveCommDataType.FLOAT
+                ),
+                // [Enum (AUTONOMYLOG), Enum (AUTONOMYLOG), Enum (AUTONOMYLOG)] {Console, File, RoveComm}
+                ["SetLoggingLevels"] = new RoveCommPacketDesc
+                (
+                    11007,
+                    3,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Enum (AUTONOMYSTATE)
+                ["CurrentState"] = new RoveCommPacketDesc
+                (
+                    11100,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // 
+                ["ReachedGoal"] = new RoveCommPacketDesc
+                (
+                    11101,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // String version of most current error log
+                ["CurrentLog"] = new RoveCommPacketDesc
+                (
+                    11102,
+                    255,
+                    RoveCommDataType.CHAR
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            }
+        ),
+        ["Camera1"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.4.100",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Change which camera a feed is looking at. [0] is the feed, [1] is the camera to view.
+                ["ChangeCameras"] = new RoveCommPacketDesc
+                (
+                    12000,
+                    2,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards.
+                ["TakePicture"] = new RoveCommPacketDesc
+                (
+                    12001,
+                    2,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream.
+                ["ToggleStream1"] = new RoveCommPacketDesc
+                (
+                    12002,
+                    2,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Bitmask values for which cameras are able to stream. LSB is Camera 0, MSB is Camera 7.
+                ["AvailableCameras"] = new RoveCommPacketDesc
+                (
+                    12100,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Which cameras the system is currently streaming on each port
+                ["StreamingCameras"] = new RoveCommPacketDesc
+                (
+                    12101,
+                    4,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Picture has been taken.
+                ["PictureTaken1"] = new RoveCommPacketDesc
+                (
+                    12102,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Camera has errored and stopped streaming. [0] is ID of camera as an integer (not bitmask).
+                ["CameraUnavailable"] = new RoveCommPacketDesc
+                (
+                    12200,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            }
+        ),
+        ["Camera2"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.4.101",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards.
+                ["TakePicture"] = new RoveCommPacketDesc
+                (
+                    13001,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream.
+                ["ToggleStream2"] = new RoveCommPacketDesc
+                (
+                    13002,
+                    2,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Picture has been taken.
+                ["PictureTaken2"] = new RoveCommPacketDesc
+                (
+                    13100,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            }
+        ),
+        ["IRSpectrometer"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.3.104",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            }
+        ),
+        ["Instruments"] = new RoveCommBoardDesc
+        (
+            ip: "192.168.3.105",
+            commands: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // [Green, White] [1-Enabled, 0-Disabled] (bitmasked)
+                ["EnableLEDs"] = new RoveCommPacketDesc
+                (
+                    16000,
+                    1,
+                    RoveCommDataType.UINT8_T
+                ),
+                // Start a Raman reading, with the provided integration time (milliseconds)
+                ["RequestRamanReading"] = new RoveCommPacketDesc
+                (
+                    16001,
+                    1,
+                    RoveCommDataType.UINT32_T
+                ),
+                // Start a Reflectance reading, with the provided integration time (milliseconds)
+                ["RequestReflectanceReading"] = new RoveCommPacketDesc
+                (
+                    16002,
+                    1,
+                    RoveCommDataType.UINT32_T
+                ),
+                // Request the temperature of the instrument
+                ["RequestTemperature"] = new RoveCommPacketDesc
+                (
+                    16003,
+                    1,
+                    RoveCommDataType.UINT8_T
+                )
+            },
+            telemetry: new Dictionary<string, RoveCommPacketDesc>
+            {
+                // Raman CCD elements 1-500
+                ["RamanReading_Part1"] = new RoveCommPacketDesc
+                (
+                    16100,
+                    500,
+                    RoveCommDataType.UINT16_T
+                ),
+                // Raman CCD elements 501-1000
+                ["RamanReading_Part2"] = new RoveCommPacketDesc
+                (
+                    16101,
+                    500,
+                    RoveCommDataType.UINT16_T
+                ),
+                // Raman CCD elements 1001-1500
+                ["RamanReading_Part3"] = new RoveCommPacketDesc
+                (
+                    16102,
+                    500,
+                    RoveCommDataType.UINT16_T
+                ),
+                // Raman CCD elements 1501-2000
+                ["RamanReading_Part4"] = new RoveCommPacketDesc
+                (
+                    16103,
+                    500,
+                    RoveCommDataType.UINT16_T
+                ),
+                // Raman CCD elements 2001-2048
+                ["RamanReading_Part5"] = new RoveCommPacketDesc
+                (
+                    16104,
+                    48,
+                    RoveCommDataType.UINT16_T
+                ),
+                // Reflectance CCD elements 1-288
+                ["ReflectanceReading"] = new RoveCommPacketDesc
+                (
+                    16105,
+                    288,
+                    RoveCommDataType.UINT8_T
+                ),
+                // [Temperature] (degrees C)
+                ["Temperature"] = new RoveCommPacketDesc
+                (
+                    16106,
+                    1,
+                    RoveCommDataType.INT8_T
+                )
+            },
+            errors: new Dictionary<string, RoveCommPacketDesc>
+            {
+
+            }
+        )
+    };
+}
diff --git a/Basestation_Software.Models/RoveComm/RoveCommPacket.cs b/Basestation_Software.Models/RoveComm/RoveCommPacket.cs
new file mode 100644
index 0000000..9d5e61d
--- /dev/null
+++ b/Basestation_Software.Models/RoveComm/RoveCommPacket.cs
@@ -0,0 +1,45 @@
+namespace Basestation_Software.Models.RoveComm;
+
+/// <summary>
+/// RoveComm Packet Format:
+/// <code>
+///  0               1               2               3               4               5
+///  0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
+///  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+///  |    Version    |            DataID             |         DataCount             |
+///  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+///  |   Data Type   |                Data (Variable)                        ...     |
+///  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+/// </code>
+/// Note: the size of Data is DataCount * DataTypeSize(DataType)
+/// </summary>
+/// <typeparam name="T">One of: sbyte, byte, short, ushort, int, uint, float, double, or char.</typeparam>
+public class RoveCommPacket<T>
+{
+    public int DataID { get; set; }
+    public int DataCount { get { return Data.Count; } }
+    public RoveCommDataType DataType { get; init; }
+    public List<T> Data { get; set; }
+
+    public RoveCommPacket(int dataId, List<T> data)
+    {
+        DataID = dataId;
+        Data = data;
+        DataType = RoveCommUtils.DataTypeFromType(typeof(T));
+    }
+
+    public RoveCommPacket(int dataId, int dataCount) :
+        this(dataId, new List<T>(dataCount))
+    { }
+
+    public RoveCommHeader GetHeader()
+    {
+        return new RoveCommHeader
+        {
+            Version = (byte)RoveCommConsts.RoveCommVersion,
+            DataID = (short)DataID,
+            DataCount = (short)DataCount,
+            DataType = (byte)DataType,
+        };
+    }
+}
diff --git a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
new file mode 100644
index 0000000..2b562a5
--- /dev/null
+++ b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
@@ -0,0 +1,400 @@
+using System.Buffers.Binary;
+using System.Runtime.InteropServices;
+
+namespace Basestation_Software.Models.RoveComm;
+
+/// <summary>
+/// A simple helper struct representing the metadata about a packet as read from the network.
+/// </summary>
+public struct RoveCommHeader
+{
+    public byte Version;
+    public short DataID;
+    public short DataCount;
+    public byte DataType;
+}
+
+public class RoveCommException : Exception
+{
+    public RoveCommException(string message) : base(message) { }
+    public RoveCommException(string message, Exception inner) : base(message, inner) { }
+}
+
+/// <summary>
+/// Helper functions used by RoveComm internally.
+/// </summary>
+public static class RoveCommUtils
+{
+    /// <summary>
+    /// Convert an integer to a RoveCommDataType safely.
+    /// </summary>
+    /// <param name="type">The integer to convert.</param>
+    /// <returns>The associated RoveCommDataType.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the integer does not match a RoveCommDataType.
+    /// </exception>
+    public static RoveCommDataType ParseDataType(int type)
+    {
+        if (Enum.IsDefined(typeof(RoveCommDataType), type))
+        {
+            return (RoveCommDataType)type;
+        }
+        else
+        {
+            throw new RoveCommException("Failed to convert int to RoveCommDataType.");
+        }
+    }
+
+    /// <summary>
+    /// Get the size of a RoveCommDataType.
+    /// </summary>
+    /// <param name="type">The RoveCommDataType to get the size of.</param>
+    /// <returns>The size in bytes of the RoveCommDataType.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the RoveCommDataType is unknown.
+    /// </exception>
+    public static int DataTypeSize(RoveCommDataType type)
+    {
+        return type switch
+        {
+            RoveCommDataType.INT8_T => 1,
+            RoveCommDataType.UINT8_T => 1,
+            RoveCommDataType.INT16_T => 2,
+            RoveCommDataType.UINT16_T => 2,
+            RoveCommDataType.INT32_T => 4,
+            RoveCommDataType.UINT32_T => 4,
+            RoveCommDataType.FLOAT => 4,
+            RoveCommDataType.DOUBLE => 8,
+            RoveCommDataType.CHAR => 1,
+            _ => throw new RoveCommException("Failed to find size of unknown RoveCommDataType."), // unreachable
+        };
+    }
+
+    /// <summary>
+    /// Convert a System.Type to a RoveCommDataType.
+    /// </summary>
+    /// <param name="type">The System.Type to convert.</param>
+    /// <returns>The associated RoveCommDataType.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the System.Type did not match a RoveCommDataType.
+    /// </exception>
+    public static RoveCommDataType DataTypeFromType(Type type)
+    {
+        TypeCode code = Type.GetTypeCode(type);
+        return code switch
+        {
+            TypeCode.SByte => RoveCommDataType.INT8_T,
+            TypeCode.Byte => RoveCommDataType.UINT8_T,
+            TypeCode.Int16 => RoveCommDataType.INT16_T,
+            TypeCode.UInt16 => RoveCommDataType.UINT16_T,
+            TypeCode.Int32 => RoveCommDataType.INT32_T,
+            TypeCode.UInt32 => RoveCommDataType.UINT32_T,
+            TypeCode.Single => RoveCommDataType.FLOAT,
+            TypeCode.Double => RoveCommDataType.DOUBLE,
+            TypeCode.Char => RoveCommDataType.CHAR,
+            _ => throw new RoveCommException("Failed to create RoveCommDataType from unknown System.Type."),
+        };
+    }
+
+
+    /// <summary>
+    /// Read a RoveCommPacket header from the given byte buffer.
+    /// </summary>
+    /// <param name="data">The byte buffer to read; assumed to be in Big Endian.</param>
+    /// <returns>The parsed RoveCommHeader.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if a RoveCommHeader could not be read from the given buffer.
+    /// </exception>
+    public static RoveCommHeader ParseHeader(ReadOnlySpan<byte> data)
+    {
+        if (data.Length < RoveCommConsts.HeaderSize)
+        {
+            throw new RoveCommException("Failed to parse RoveCommHeader: not enough bytes.");
+        }
+        else
+        {
+            if (data[0] != RoveCommConsts.RoveCommVersion)
+            {
+                throw new RoveCommException("Failed to parse RoveCommHeader: invalid version.");
+            }
+
+            return new RoveCommHeader
+            {
+                Version = data[0],
+                DataID = BinaryPrimitives.ReadInt16BigEndian(data.Slice(1, 2)),
+                DataCount = BinaryPrimitives.ReadInt16BigEndian(data.Slice(3, 2)),
+                DataType = data[5]
+            };
+        }
+    }
+    /// <summary>
+    /// Pack a RoveCommHeader into the given byte buffer.
+    /// </summary>
+    /// <param name="dest">The byte buffer in which to pack the header.</param>
+    /// <param name="header">The RoveCommHeader to pack.</param>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the given buffer is too small to hold the header.
+    /// </exception>
+    public static void PackHeader(Span<byte> dest, RoveCommHeader header)
+    {
+        if (dest.Length < RoveCommConsts.HeaderSize)
+        {
+            throw new RoveCommException("Failed to pack RoveCommHeader: the given buffer is too small for the header.");
+        }
+
+        dest[0] = (byte)RoveCommConsts.RoveCommVersion;
+        BinaryPrimitives.WriteInt16BigEndian(dest.Slice(1, 2), header.DataID);
+        BinaryPrimitives.WriteInt16BigEndian(dest.Slice(3, 2), header.DataCount);
+        dest[5] = header.DataType;
+    }
+
+
+    /// <summary>
+    /// Read a RoveCommPacket from the given byte buffer.
+    /// </summary>
+    /// <param name="data">The byte buffer to read; assumed to be in Big Endian.</param>
+    /// <returns>The parsed RoveCommPacket.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if a RoveCommPacket could not be read from the given buffer.
+    /// </exception>
+    public static RoveCommPacket<T> ParsePacket<T>(ReadOnlySpan<byte> data)
+    {
+        // Parse header to get metadata -- will error if there isn't enough data to parse the header.
+        RoveCommHeader header = ParseHeader(data);
+        if (data[0] != RoveCommConsts.RoveCommVersion)
+        {
+            throw new RoveCommException("Failed to parse RoveCommHeader: invalid version.");
+        }
+        // Make sure packet data size is not over the maximum size.
+        int dataSize = DataTypeSize(ParseDataType(header.DataType)) * header.DataCount;
+        if (dataSize > RoveCommConsts.MaxDataSize)
+        {
+            throw new RoveCommException("Failed to parse RoveCommPacket: max packet size exceeded.");
+        }
+        // Packet create new packet to write to.
+        RoveCommPacket<T> packet = new RoveCommPacket<T>(header.DataID, header.DataCount);
+
+        // Create a slice to the data portion of the packet.
+        var dataBuf = data.Slice(RoveCommConsts.HeaderSize);
+        // We might have received a packet that isn't as long as it claims to be.
+        if (dataBuf.Length != dataSize)
+        {
+            throw new RoveCommException("Failed to parse RoveCommPacket: not enough data from network to fill packet.");
+        }
+        // Read data from the packet from the data buffer. Remember: network byte order is Big Endian!
+        switch (packet.Data)
+        {
+            // SEXY PATTERN MATCHING
+            case List<sbyte> packetData:
+                {
+                    var casted = MemoryMarshal.Cast<byte, sbyte>(dataBuf);
+                    for (int i = 0; i < header.DataCount; i++) packetData.Add(casted[i]);
+                    break;
+                }
+            case List<byte> packetData:
+                {
+                    // No cast necessary -- already bytes.
+                    for (int i = 0; i < header.DataCount; i++) packetData.Add(dataBuf[i]);
+                    break;
+                }
+            case List<short> packetData:
+                {
+                    for (int i = 0; i < header.DataCount; i++)
+                    {
+                        packetData.Add(BinaryPrimitives.ReadInt16BigEndian(dataBuf.Slice(i * 2, 2)));
+                    }
+
+                    break;
+                }
+            case List<ushort> packetData:
+                {
+                    for (int i = 0; i < header.DataCount; i++)
+                    {
+                        packetData.Add(BinaryPrimitives.ReadUInt16BigEndian(dataBuf.Slice(i * 2, 2)));
+                    }
+
+                    break;
+                }
+            case List<int> packetData:
+                {
+                    for (int i = 0; i < header.DataCount; i++)
+                    {
+                        packetData.Add(BinaryPrimitives.ReadInt32BigEndian(dataBuf.Slice(i * 4, 4)));
+                    }
+
+                    break;
+                }
+            case List<uint> packetData:
+                {
+                    for (int i = 0; i < header.DataCount; i++)
+                    {
+                        packetData.Add(BinaryPrimitives.ReadUInt32BigEndian(dataBuf.Slice(i * 4, 4)));
+                    }
+
+                    break;
+                }
+            case List<float> packetData:
+                {
+                    for (int i = 0; i < header.DataCount; i++)
+                    {
+                        packetData.Add(BinaryPrimitives.ReadUInt32BigEndian(dataBuf.Slice(i * 4, 4)));
+                    }
+
+                    break;
+                }
+            case List<double> packetData:
+                {
+                    for (int i = 0; i < header.DataCount; i++)
+                    {
+                        packetData.Add(BinaryPrimitives.ReadDoubleBigEndian(dataBuf.Slice(i * 8, 8)));
+                    }
+
+                    break;
+                }
+            case List<char> packetData:
+                {
+                    for (int i = 0; i < header.DataCount; i++)
+                    {
+                        // Careful: C# stores chars in UTF-16, so they are 2 bytes wide.
+                        // This can cause encoding errors if converting byte[] directly to string.
+                        packetData.Add((char)dataBuf[i]);
+                    }
+
+                    break;
+                }
+            default:
+                {
+                    throw new RoveCommException("Failed to parse RoveCommPacket: invalid data type.");
+                }
+        }
+
+        return packet;
+    }
+    /// <summary>
+    /// Pack a RoveCommPacket into a byte array.
+    /// </summary>
+    /// <param name="packet">The packet to pack.</param>
+    /// <returns>A byte array packed in Big Endian.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the given packet is too large.
+    /// </exception>
+    public static byte[] PackPacket<T>(RoveCommPacket<T> packet)
+    {
+        int dataSize = packet.DataCount * DataTypeSize(packet.DataType);
+        if (dataSize > RoveCommConsts.MaxDataSize)
+        {
+            throw new RoveCommException("Failed to pack RoveCommPacket: payload exceeds max data size.");
+        }
+        byte[] dataBuf = new byte[RoveCommConsts.HeaderSize + dataSize];
+        PackPacket(dataBuf, packet);
+        return dataBuf;
+    }
+    public static void PackPacket<T>(Span<byte> dest, RoveCommPacket<T> packet)
+    {
+        // Make sure the packet and destination buffer are within size constraints.
+        int packetSize = RoveCommConsts.HeaderSize + packet.DataCount * DataTypeSize(packet.DataType);
+        if (dest.Length < packetSize)
+        {
+            throw new RoveCommException("Failed to pack RoveCommPacket: the given buffer is too small to hold the packet.");
+        }
+        if (packetSize > RoveCommConsts.HeaderSize + RoveCommConsts.MaxDataSize)
+        {
+            throw new RoveCommException("Failed to pack RoveCommPacket: payload exceeds max data size.");
+        }
+        // Pack header in network byte order.
+        PackHeader(dest, packet.GetHeader());
+        // Create a slice to the data portion of the data buffer.
+        var dataBuf = dest.Slice(RoveCommConsts.HeaderSize);
+        // Pack data in network byte order.
+        switch (packet.Data)
+        {
+            case List<sbyte> packetData:
+                {
+                    var casted = MemoryMarshal.Cast<byte, sbyte>(dataBuf);
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        casted[i] = packetData[i];
+                    }
+
+                    break;
+                }
+            case List<byte> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        dataBuf[0] = packetData[0];
+                    }
+
+                    break;
+                }
+            case List<short> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        BinaryPrimitives.WriteInt16BigEndian(dataBuf.Slice(i * 2, 2), packetData[i]);
+                    }
+
+                    break;
+                }
+            case List<ushort> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        BinaryPrimitives.WriteUInt16BigEndian(dataBuf.Slice(i * 2, 2), packetData[i]);
+                    }
+
+                    break;
+                }
+            case List<int> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        BinaryPrimitives.WriteInt32BigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
+                    }
+
+                    break;
+                }
+            case List<uint> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        BinaryPrimitives.WriteUInt32BigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
+                    }
+
+                    break;
+                }
+            case List<float> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        BinaryPrimitives.WriteSingleBigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
+                    }
+
+                    break;
+                }
+            case List<double> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        BinaryPrimitives.WriteDoubleBigEndian(dataBuf.Slice(i * 8, 8), packetData[i]);
+                    }
+
+                    break;
+                }
+            case List<char> packetData:
+                {
+                    for (int i = 0; i < packet.DataCount; i++)
+                    {
+                        dataBuf[i] = (byte)packetData[i];
+                    }
+
+                    break;
+                }
+            default:
+                {
+                    throw new RoveCommException("Failed to pack RoveCommPacket: invalid data type.");
+                }
+        }
+    }
+}
+
diff --git a/Basestation_Software.Web/Core/Components/RoveCommExample.razor b/Basestation_Software.Web/Core/Components/RoveCommExample.razor
new file mode 100644
index 0000000..28b486c
--- /dev/null
+++ b/Basestation_Software.Web/Core/Components/RoveCommExample.razor
@@ -0,0 +1,91 @@
+@implements IAsyncDisposable
+@inject RoveCommService _RoveCommService
+@using Basestation_Software.Models.RoveComm
+
+<div class="card full-height">
+    <div class="card-header">
+        <h5>RoveComm Test</h5>
+    </div>
+    <div class="card-body scrollable">
+        <div class="row">
+            <div class="col">
+                <button type="button" class="btn btn-primary" @onclick="()=>SendPacketUDP()">Send UDP Packet</button>
+                <button type="button" class="btn btn-primary" @onclick="()=>SendPacketTCP()">Send TCP Packet</button>
+                <button type="button" class="btn btn-primary" disabled="@_isDisabled" @onclick="()=>ListenForPacket()">Listen for Packet</button>
+            </div>
+            <h3>@_message</h3>
+            @if (!_dataLoaded)
+            {
+                <div class="row">
+                    <div class="spinner-border " role="status"></div>
+                    <div class="col">
+                        <h3>Waiting for packets...</h3>
+                    </div>
+                </div>
+            }
+            else
+            {
+                <ul>
+                    @foreach(var message in _messages)
+                    {
+                        <li>@message</li>
+                    }
+                </ul>
+            }
+        </div>
+    </div>
+</div>
+
+
+@code
+{
+    private bool _dataLoaded = false;
+    private string? _message;
+    private bool _isDisabled;
+    private readonly List<string> _messages = [];
+
+    protected override async Task OnInitializedAsync()
+    {
+        // Subscribe to all DataIDs.
+        _RoveCommService.On<int>(0, AddMessage);
+
+        await InvokeAsync(StateHasChanged);
+    }
+
+    public async Task AddMessage(List<int> payload)
+    {
+        _messages.Add($"Received Packet. Data: {string.Join(", ", payload)}");
+        _dataLoaded = true;
+        await InvokeAsync(StateHasChanged);
+    }
+
+    public async Task SendPacketTCP()
+    {
+        await _RoveCommService.SendAsync<int>(6969, [1, 2, 3], "127.0.0.1", reliable: true);
+    }
+    public async Task SendPacketUDP()
+    {
+        await _RoveCommService.SendAsync<int>(6969, [1, 2, 3], "127.0.0.1", reliable: false);
+    }
+    public async Task ListenForPacket()
+    {
+        _message = "Waiting...";
+        _isDisabled = true;
+        var result = await _RoveCommService.Listen<int>(0, 3000);
+        if (result is not null)
+        {
+            _message = "Received!";
+        }
+        else
+        {
+            _message = "Timed out.";
+        }
+        _isDisabled = false;
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        _RoveCommService.Clear<int>(AddMessage);
+        await Task.CompletedTask;
+    }
+}
diff --git a/Basestation_Software.Web/Core/Pages/RON.razor b/Basestation_Software.Web/Core/Pages/RON.razor
index df23929..224b3b5 100644
--- a/Basestation_Software.Web/Core/Pages/RON.razor
+++ b/Basestation_Software.Web/Core/Pages/RON.razor
@@ -5,6 +5,9 @@
     <div class="row mt-3">
         <PingGraph />
     </div>
+    <div class="row mt-3">
+        <RoveCommExample />
+    </div>
 </div>
 
 @code
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
new file mode 100644
index 0000000..76dece2
--- /dev/null
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
@@ -0,0 +1,404 @@
+using Basestation_Software.Models.RoveComm;
+
+namespace Basestation_Software.Web.Core.Services.RoveComm;
+
+/// <summary>
+/// A function to be called by RoveComm when a relevant RoveCommPacket is received.
+/// </summary>
+/// <param name="payload">The Data field of the received RoveCommPacket.</param>
+public delegate Task RoveCommCallback<T>(List<T> payload);
+
+public class RoveCommService : IHostedService
+{
+
+    public RoveCommUDP UDP;
+    public RoveCommTCP TCP;
+
+    private readonly CancellationTokenSource _cts = new();
+    private readonly ILogger<RoveCommService> _logger;
+
+    public RoveCommService(ILogger<RoveCommService> logger)
+    {
+        _logger = logger;
+        UDP = new RoveCommUDP(_logger);
+        TCP = new RoveCommTCP(_logger);
+    }
+
+    public Task StartAsync(CancellationToken cancelToken)
+    {
+        Begin(cancelToken);
+        SubscribeAll();
+        return Task.CompletedTask;
+    }
+
+    public void Begin(CancellationToken cancelToken)
+    {
+        _logger.LogInformation("Starting RoveComm.");
+        UDP.Begin(cancelToken);
+        TCP.Begin(cancelToken);
+    }
+
+    /// <summary>
+    /// Attach the given callback to be triggered when a RoveCommPacket with the given DataID is received.
+    /// </summary>
+    /// <param name="dataId">The DataID to listen for.</param>
+    /// <param name="handler">The function to call when the DataID is received.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void On<T>(int dataId, RoveCommCallback<T> handler)
+    {
+        TCP.On(dataId, handler);
+        UDP.On(dataId, handler);
+        _logger.LogInformation($"Subscribed to {dataId} with type {RoveCommUtils.DataTypeFromType(typeof(T))}");
+    }
+
+    /// <summary>
+    /// Attach the given callback to be triggered when a RoveCommPacket from the Manifest is received.
+    /// </summary>
+    /// <param name="boardName">The name of the board as shown in the Manifest.</param>
+    /// <param name="dataIdString">The name of the Telemetry or Error message as shown in the Manifest.</param>
+    /// <param name="handler">The function to call when the DataID is received.</param>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the packet descriptor was not found in the Manifest or did not match the given type.
+    /// </exception>
+    public void On<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
+    {
+        RoveCommPacketDesc? packetDesc;
+        if (RoveCommManifest.Boards.ContainsKey(boardName))
+        {
+            var boardDesc = RoveCommManifest.Boards[boardName];
+            if (boardDesc.Telemetry.ContainsKey(dataIdString))
+            {
+                packetDesc = boardDesc.Telemetry[dataIdString];
+            }
+            else if (boardDesc.Errors.ContainsKey(dataIdString))
+            {
+                packetDesc = boardDesc.Errors[dataIdString];
+            }
+            else
+            {
+                throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
+            }
+        }
+        else
+        {
+            throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
+        }
+
+        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+        if (packetDesc.DataType != handlerType)
+        {
+            throw new Exception($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString}.");
+        }
+
+        On(packetDesc.DataID, handler);
+    }
+
+    /// <summary>
+    /// Clear the given callback from all DataID's.
+    /// </summary>
+    /// <param name="handler">The callback to remove.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void Clear<T>(RoveCommCallback<T> handler)
+    {
+        UDP.Clear(handler);
+        TCP.Clear(handler);
+    }
+
+    /// <summary>
+    /// Clear the given callback from the given DataID.
+    /// </summary>
+    /// <param name="dataId">The DataID to remove the callback from.</param>
+    /// <param name="handler">The callback to remove.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void Clear<T>(int dataId, RoveCommCallback<T> handler)
+    {
+        UDP.Clear(dataId, handler);
+        TCP.Clear(dataId, handler);
+    }
+
+    /// <summary>
+    /// Clear the given callback from the given Manifest entry.
+    /// </summary>
+    /// <param name="boardName">The name of the board as shown in the Manifest.</param>
+    /// <param name="dataIdString">The name of the Telemetry or Error message as shown in the Manifest.</param>
+    /// <param name="handler">The callback to remove.</param>
+    /// /// <exception cref="RoveCommException">
+    /// Thrown if the packet descriptor was not found in the Manifest or did not match the given type.
+    /// </exception>
+    public void Clear<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
+    {
+        RoveCommPacketDesc? packetDesc;
+        if (RoveCommManifest.Boards.ContainsKey(boardName))
+        {
+            var boardDesc = RoveCommManifest.Boards[boardName];
+            if (boardDesc.Telemetry.ContainsKey(dataIdString))
+            {
+                packetDesc = boardDesc.Telemetry[dataIdString];
+            }
+            else if (boardDesc.Errors.ContainsKey(dataIdString))
+            {
+                packetDesc = boardDesc.Errors[dataIdString];
+            }
+            else
+            {
+                throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
+            }
+        }
+        else
+        {
+            throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
+        }
+
+        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+        if (packetDesc.DataType != handlerType)
+        {
+            throw new Exception($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString}.");
+        }
+
+        UDP.Clear(packetDesc.DataID, handler);
+        TCP.Clear(packetDesc.DataID, handler);
+    }
+
+    /// <summary>
+    /// Send data over RoveComm.
+    /// </summary>
+    /// <param name="dataId">The DataID of the packet.</param>
+    /// <param name="data">The Data to send.</param>
+    /// <param name="ip">The IP to send to.</param>
+    /// <param name="port">The port to send to.</param>
+    /// <param name="reliable">Send over TCP if true, send over UDP if false.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    public bool Send<T>(int dataId, List<T> data, string ip, int port, bool reliable = false)
+    {
+        var packet = new RoveCommPacket<T>(dataId, data);
+        return reliable ? TCP.Send(packet, ip, port) : UDP.Send(packet, ip, port);
+    }
+    public bool Send<T>(int dataId, List<T> data, string ip, bool reliable = false)
+    {
+        var packet = new RoveCommPacket<T>(dataId, data);
+        return reliable ? TCP.Send(packet, ip) : UDP.Send(packet, ip);
+    }
+
+    /// <summary>
+    /// Send data asynchronously over RoveComm.
+    /// </summary>
+    /// <param name="dataId">The DataID of the packet.</param>
+    /// <param name="data">The Data to send.</param>
+    /// <param name="ip">The IP to send to.</param>
+    /// <param name="port">The port to send to.</param>
+    /// <param name="reliable">Send over TCP if true, send over UDP if false.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    public async Task<bool> SendAsync<T>(int dataId, List<T> data, string ip, int port, bool reliable = false, CancellationToken cancelToken = default)
+    {
+        var packet = new RoveCommPacket<T>(dataId, data);
+        return reliable ? await TCP.SendAsync(packet, ip, port, cancelToken) : await UDP.SendAsync(packet, ip, port, cancelToken);
+    }
+    public async Task<bool> SendAsync<T>(int dataId, List<T> data, string ip, bool reliable = false, CancellationToken cancelToken = default)
+    {
+        var packet = new RoveCommPacket<T>(dataId, data);
+        return reliable ? await TCP.SendAsync(packet, ip, cancelToken) : await UDP.SendAsync(packet, ip, cancelToken);
+    }
+
+    /// <summary>
+    /// Send a command from the Manifest over RoveComm.
+    /// </summary>
+    /// <param name="boardName">The name of the board as shown in the Manifest.</param>
+    /// <param name="commandName">The name of the command as shown in the Manifest.</param>
+    /// <param name="data">The data to send with the command.</param>
+    /// <param name="reliable">Send over TCP if true, send over UDP if false.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the packet descriptor was not found in the Manifest or did not match the Manifest's schema.
+    /// </exception>
+    public bool Send<T>(string boardName, string commandName, List<T> data, bool reliable = false)
+    {
+        RoveCommBoardDesc? boardDesc;
+        RoveCommPacketDesc? packetDesc;
+        if (RoveCommManifest.Boards.ContainsKey(boardName))
+        {
+            boardDesc = RoveCommManifest.Boards[boardName];
+            if (boardDesc.Commands.ContainsKey(commandName))
+            {
+                packetDesc = boardDesc.Commands[commandName];
+            }
+            else if (boardDesc.Telemetry.ContainsKey(commandName))
+            {
+                packetDesc = boardDesc.Telemetry[commandName];
+            }
+            else if (boardDesc.Errors.ContainsKey(commandName))
+            {
+                packetDesc = boardDesc.Errors[commandName];
+            }
+            else
+            {
+                throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+            }
+        }
+        else
+        {
+            throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
+        }
+
+        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+        if (packetDesc.DataType != handlerType)
+        {
+            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName}.");
+        }
+
+        if (data.Count != packetDesc.DataCount)
+        {
+            throw new Exception($"Failed to send RoveCommPacket: incorrect data size to fill {commandName}.");
+        }
+
+        return Send(packetDesc.DataID, data, boardDesc.IP, reliable);
+    }
+
+    /// <summary>
+    /// Send a command from the Manifest over RoveComm asynchronously.
+    /// </summary>
+    /// <param name="boardName">The name of the board as shown in the Manifest.</param>
+    /// <param name="commandName">The name of the command as shown in the Manifest.</param>
+    /// <param name="data">The data to send with the command.</param>
+    /// <param name="reliable">Send over TCP if true, send over UDP if false.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if the packet descriptor was not found in the Manifest or did not match the Manifest's schema.
+    /// </exception>
+    public async Task<bool> SendAsync<T>(string boardName, string commandName, List<T> data, bool reliable = false, CancellationToken cancelToken = default)
+    {
+        RoveCommBoardDesc? boardDesc;
+        RoveCommPacketDesc? packetDesc;
+        if (RoveCommManifest.Boards.ContainsKey(boardName))
+        {
+            boardDesc = RoveCommManifest.Boards[boardName];
+            if (boardDesc.Commands.ContainsKey(commandName))
+            {
+                packetDesc = boardDesc.Commands[commandName];
+            }
+            else if (boardDesc.Telemetry.ContainsKey(commandName))
+            {
+                packetDesc = boardDesc.Telemetry[commandName];
+            }
+            else if (boardDesc.Errors.ContainsKey(commandName))
+            {
+                packetDesc = boardDesc.Errors[commandName];
+            }
+            else
+            {
+                throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+            }
+        }
+        else
+        {
+            throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
+        }
+
+        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+        if (packetDesc.DataType != handlerType)
+        {
+            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName}.");
+        }
+
+        if (data.Count != packetDesc.DataCount)
+        {
+            throw new Exception($"Failed to send RoveCommPacket: incorrect data size to fill {commandName}.");
+        }
+
+        return await SendAsync(packetDesc.DataID, data, boardDesc.IP, reliable, cancelToken);
+    }
+
+    /// <summary>
+    /// Wait asynchronously until a packet with the desired DataID arrives.
+    /// </summary>
+    /// <param name="dataId">The DataID to listen for.</param>
+    /// <param name="timeout">The number of milliseconds before returning null.</param>
+    /// <returns>The payload if a packet is received within the timeout, null if none.</returns>
+    public async Task<List<T>?> Listen<T>(int dataId, int timeout = 30_000)
+    {
+        var promise = new TaskCompletionSource<List<T>>();
+        RoveCommCallback<T> callback = async (payload) => {
+                promise.SetResult(payload);
+                await Task.CompletedTask;
+            };
+
+        On(dataId, callback);
+
+        var cts = new CancellationTokenSource();
+        var cancel = cts.Token;
+        cts.CancelAfter(timeout);
+
+        using (cancel.Register(() => {
+            Clear(dataId, callback);
+        }))
+        {
+            try
+            {
+                return await promise.Task.WaitAsync(cancel);
+            }
+            catch (OperationCanceledException)
+            {
+                return null;
+            }
+        }
+    }
+
+    public void Subscribe(string boardName)
+    {
+        if (RoveCommManifest.Boards.ContainsKey(boardName))
+        {
+            Send(RoveCommManifest.SystemPackets.SUBSCRIBE, [1], RoveCommManifest.Boards[boardName].IP);
+        }
+    }
+    public void SubscribeAll()
+    {
+        foreach (var (_, board) in RoveCommManifest.Boards)
+        {
+            Send(RoveCommManifest.SystemPackets.SUBSCRIBE, [1], board.IP);
+        }
+    }
+
+    public void Unubscribe(string boardName)
+    {
+        if (RoveCommManifest.Boards.ContainsKey(boardName))
+        {
+            Send(RoveCommManifest.SystemPackets.UNSUBSCRIBE, [1], RoveCommManifest.Boards[boardName].IP);
+        }
+    }
+    public void UnsubscribeAll()
+    {
+        foreach (var (_, board) in RoveCommManifest.Boards)
+        {
+            Send(RoveCommManifest.SystemPackets.UNSUBSCRIBE, [1], board.IP);
+        }
+    }
+
+    public void Ping(string boardName)
+    {
+        if (RoveCommManifest.Boards.ContainsKey(boardName))
+        {
+            Send(RoveCommManifest.SystemPackets.PING, [1], RoveCommManifest.Boards[boardName].IP);
+        }
+    }
+    public void PingAll()
+    {
+        foreach (var (_, board) in RoveCommManifest.Boards)
+        {
+            Send(RoveCommManifest.SystemPackets.PING, [1], board.IP);
+        }
+    }
+
+    public Task StopAsync(CancellationToken cancelToken)
+    {
+        UnsubscribeAll();
+        Stop();
+        return Task.CompletedTask;
+    }
+
+    public void Stop()
+    {
+        _logger.LogInformation("Closing RoveComm.");
+        _cts.Cancel();
+        UDP.Dispose();
+        TCP.Dispose();
+    }
+}
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
new file mode 100644
index 0000000..6a9330a
--- /dev/null
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
@@ -0,0 +1,460 @@
+using System.Net;
+using System.Net.Sockets;
+using Basestation_Software.Models.RoveComm;
+
+namespace Basestation_Software.Web.Core.Services.RoveComm;
+
+public class RoveCommTCP
+{
+    public bool Running { get; private set; }
+    public int Port { get; private set; }
+    private readonly List<TcpClient> _connections = [];
+    private TcpListener? _TCPServer;
+    private readonly ILogger? _logger;
+
+    private class RoveCommEmitter<T>
+    {
+        public event RoveCommCallback<T>? Notifier;
+        public void Invoke(RoveCommPacket<T> packet) => Notifier?.Invoke(packet.Data);
+    }
+
+    private readonly Dictionary<int, RoveCommEmitter<sbyte>> _callbacksInt8 = [];
+    private readonly Dictionary<int, RoveCommEmitter<byte>> _callbacksUInt8 = [];
+    private readonly Dictionary<int, RoveCommEmitter<short>> _callbacksInt16 = [];
+    private readonly Dictionary<int, RoveCommEmitter<ushort>> _callbacksUInt16 = [];
+    private readonly Dictionary<int, RoveCommEmitter<int>> _callbacksInt32 = [];
+    private readonly Dictionary<int, RoveCommEmitter<uint>> _callbacksUInt32 = [];
+    private readonly Dictionary<int, RoveCommEmitter<float>> _callbacksFloat = [];
+    private readonly Dictionary<int, RoveCommEmitter<double>> _callbacksDouble = [];
+    private readonly Dictionary<int, RoveCommEmitter<char>> _callbacksChar = [];
+
+    public RoveCommTCP(int port, ILogger? logger = null)
+    {
+        Port = port;
+        _logger = logger;
+    }
+    public RoveCommTCP(ILogger? logger = null) : this(RoveCommConsts.TCPPort, logger) { }
+
+    /// <summary>
+    /// Begin accepting TCP connections and reading packets from the network.
+    /// </summary>
+    public void Begin(CancellationToken cancelToken)
+    {
+        if (Running)
+        {
+            _logger?.LogWarning("RoveComm TCP already started.");
+            return;
+        }
+        // Begin listening for TCP connection requests. Allow up to 10 pending requests at once.
+        _logger?.LogInformation($"Starting RoveComm TCP on port {Port}.");
+        _TCPServer = new TcpListener(IPAddress.Any, Port);
+        try
+        {
+            _TCPServer!.Start(10);
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError($"Failed to start RoveComm TCP: {e.Message}");
+            return;
+        }
+        Running = true;
+        Task.Run(async () =>
+        {
+            try
+            {
+                while (!cancelToken.IsCancellationRequested)
+                {
+                    // Accept any incoming connections.
+                    if (_TCPServer!.Pending())
+                    {
+                        TcpClient client = await _TCPServer!.AcceptTcpClientAsync(cancelToken);
+                        _connections.Add(client);
+                        _logger?.LogError($"Established connection with {client.Client.RemoteEndPoint}");
+                    }
+                    // Read packets and trigger callbacks.
+                    await ReceiveAndCallback(cancelToken);
+                    // Don't hog the async queue.
+                    await Task.Yield();
+                }
+            }
+            catch (Exception e)
+            {
+                _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
+            }
+            finally
+            {
+                // Close connections.
+                Stop();
+            }
+        }, cancelToken);
+    }
+
+    /// <summary>
+    /// Stop accepting TCP connections and reading packets from the network.
+    /// </summary>
+    public void Stop()
+    {
+        if (!Running)
+        {
+            _logger?.LogWarning("RoveComm TCP already stopped.");
+            return;
+        }
+
+        Running = false;
+        // Close all connections.
+        foreach (var connection in _connections)
+        {
+            connection.Close();
+        }
+        _connections.Clear();
+        // Close listening socket.
+        try
+        {
+            _TCPServer!.Stop();
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError($"Something went wrong closing RoveComm TCP: {e.Message}");
+            return;
+        }
+        _logger?.LogInformation("Closed RoveComm TCP.");
+    }
+
+    // Find existing connection in conneciton list.
+    private TcpClient? _findExisting(IPEndPoint remote)
+    {
+        foreach (var connection in _connections)
+        {
+            var connectionEp = connection.Client.RemoteEndPoint as IPEndPoint;
+            if (connectionEp is null)
+            {
+                return null;
+            }
+            else if (connectionEp.Port == remote.Port && connectionEp.Address.Equals(remote.Address))
+            {
+                // _logger?.LogInformation("Found existing conneciton.");
+                return connection;
+            }
+        }
+        return null;
+    }
+
+    // Remove all connections that have disconnected.
+    private void _removeDisconnectedClients()
+    {
+        _connections.RemoveAll(connection =>
+        {
+            if (!connection.Connected)
+            {
+                _logger?.LogInformation($"Disconnected from {connection.Client.RemoteEndPoint as IPEndPoint}.");
+                return true;
+            }
+            else
+            {
+                return false;
+            }
+        });
+    }
+
+    /// <summary>
+    /// Send a RoveCommPacket to the given IP and port, guaranteeing delivery.
+    /// </summary>
+    /// <param name="packet">The RoveCommPacket to send.</param>
+    /// <param name="ip">The IP to send to.</param>
+    /// <param name="port">The port to send to.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    /// <seealso cref="SendAsync"/>
+    public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
+    {
+        if (!Running)
+        {
+            throw new RoveCommException("Failed to send TCP packet: RoveComm TCP not started.");
+        }
+
+        _removeDisconnectedClients();
+
+        var dest = new IPEndPoint(IPAddress.Parse(ip), port);
+        // Check if there is already a connection with that endpoint.
+        TcpClient? client = _findExisting(dest);
+
+        // If no existing connection was found, open a new one.
+        if (client is null)
+        {
+            try
+            {
+                _logger?.LogInformation($"Attempting to establish a connection with {dest}.");
+                client = new TcpClient(AddressFamily.InterNetwork);
+                client.Connect(dest);
+                _logger?.LogInformation($"Established connection with {client.Client.RemoteEndPoint as IPEndPoint}");
+            }
+            catch (Exception e)
+            {
+                _logger?.LogError($"Failed to connect to remote host: {e.Message}");
+                return false;
+            }
+            _connections.Add(client);
+        }
+        // Write the packet to the client's NetworkStream.
+        try
+        {
+            client.GetStream().Write(RoveCommUtils.PackPacket(packet));
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError($"Failed to send TCP packet: {e.Message}");
+            return false;
+        }
+        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
+        return true;
+    }
+    public bool Send<T>(RoveCommPacket<T> packet, string ip) => Send(packet, ip, Port);
+
+    /// <summary>
+    /// Send a RoveCommPacket to the given IP and port asynchronously.
+    /// </summary>
+    /// <param name="packet">The RoveCommPacket to send.</param>
+    /// <param name="ip">The IP to send to.</param>
+    /// <param name="port">The port to send to.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    /// <seealso cref="Send"/>
+    public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int port, CancellationToken cancelToken = default)
+    {
+        if (!Running)
+        {
+            throw new RoveCommException("Failed to send TCP packet: RoveComm TCP not started.");
+        }
+
+        _removeDisconnectedClients();
+
+        var dest = new IPEndPoint(IPAddress.Parse(ip), port);
+        // Check if there is already a connection with that endpoint.
+        TcpClient? client = _findExisting(dest);
+        // If no existing connection was found, open a new one.
+        if (client is null)
+        {
+            try
+            {
+                client = new TcpClient(AddressFamily.InterNetwork);
+                _logger?.LogInformation($"Attempting to establish a connection with {dest}.");
+                await client.ConnectAsync(dest);
+                _logger?.LogInformation($"Established connection with {client.Client.RemoteEndPoint as IPEndPoint}");
+            }
+            catch (Exception e)
+            {
+                _logger?.LogError($"Failed to connect to remote host: {e.Message}");
+                return false;
+            }
+            _connections.Add(client);
+        }
+        // Write the packet to the client's NetworkStream.
+        try
+        {
+            await client.GetStream().WriteAsync(RoveCommUtils.PackPacket(packet), cancelToken);
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError($"Failed to send TCP packet: {e.Message}");
+            return false;
+        }
+        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
+        return true;
+    }
+    public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, CancellationToken cancelToken = default) =>
+        await SendAsync(packet, ip, Port, cancelToken);
+
+    /// <summary>
+    /// Internal method for reading packets off the network and triggering attached callbacks.
+    /// </summary>
+    public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
+    {
+        if (!Running)
+        {
+            throw new RoveCommException("Failed to read TCP packet: RoveComm TCP not started.");
+        }
+
+        _removeDisconnectedClients();
+
+        foreach (var connection in _connections)
+        {
+            try
+            {
+                // Get a reference to the stream managed by the TcpClient.
+                NetworkStream stream = connection.GetStream();
+                // Quit reading if no new data is received after 30 seconds.
+                stream.ReadTimeout = 30_000;
+                // Create byte buffer with max packet size.
+                byte[] readBuf = new byte[RoveCommConsts.HeaderSize + RoveCommConsts.MaxDataSize];
+                // Read header.
+                var headerBuf = readBuf.AsMemory(0, RoveCommConsts.HeaderSize);
+                int bytesRead = await stream.ReadAsync(headerBuf, cancelToken);
+                if (bytesRead == 0)
+                {
+                    return;
+                }
+                RoveCommHeader header = RoveCommUtils.ParseHeader(readBuf);
+                RoveCommDataType dataType = RoveCommUtils.ParseDataType(header.DataType);
+                int dataTypeSize = RoveCommUtils.DataTypeSize(dataType);
+                int dataSize = header.DataCount * dataTypeSize;
+                var dataBuf = readBuf.AsMemory(RoveCommConsts.HeaderSize, dataSize);
+                await stream.ReadAsync(dataBuf, cancelToken);
+                // Parse packet and trigger callbacks.
+                int packetSize = RoveCommConsts.HeaderSize + dataSize;
+                var packetBuf = readBuf.AsMemory(0, packetSize);
+                switch (dataType)
+                {
+                    case RoveCommDataType.INT8_T: ProcessPacket(RoveCommUtils.ParsePacket<sbyte>(packetBuf.Span)); break;
+                    case RoveCommDataType.UINT8_T: ProcessPacket(RoveCommUtils.ParsePacket<byte>(packetBuf.Span)); break;
+                    case RoveCommDataType.INT16_T: ProcessPacket(RoveCommUtils.ParsePacket<short>(packetBuf.Span)); break;
+                    case RoveCommDataType.UINT16_T: ProcessPacket(RoveCommUtils.ParsePacket<ushort>(packetBuf.Span)); break;
+                    case RoveCommDataType.INT32_T: ProcessPacket(RoveCommUtils.ParsePacket<int>(packetBuf.Span)); break;
+                    case RoveCommDataType.UINT32_T: ProcessPacket(RoveCommUtils.ParsePacket<uint>(packetBuf.Span)); break;
+                    case RoveCommDataType.FLOAT: ProcessPacket(RoveCommUtils.ParsePacket<float>(packetBuf.Span)); break;
+                    case RoveCommDataType.DOUBLE: ProcessPacket(RoveCommUtils.ParsePacket<double>(packetBuf.Span)); break;
+                    case RoveCommDataType.CHAR: ProcessPacket(RoveCommUtils.ParsePacket<char>(packetBuf.Span)); break;
+                }
+                _logger?.LogInformation($"TCP: Received RoveCommPacket with DataID {header.DataID}, DataCount {header.DataCount}, and DataType {dataType}.");
+            }
+            // RoveComm couldn't parse something:
+            catch (RoveCommException e)
+            {
+                _logger?.LogError($"Failed to read TCP packet: {e.Message}");
+            }
+            // Network problems:
+            catch (Exception e)
+            {
+                _logger?.LogError($"Failed to receive TCP data: {e.Message}");
+            }
+        }
+    }
+
+
+    /// <summary>
+    /// Trigger attached callbacks for the given RoveCommPacket.
+    /// </summary>
+    /// <param name="packet">The RoveCommPacket to pass to the callbacks.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void ProcessPacket<T>(RoveCommPacket<T> packet)
+    {
+        switch (packet)
+        {
+            case RoveCommPacket<sbyte> p: _processPacket(_callbacksInt8, p); break;
+            case RoveCommPacket<byte> p: _processPacket(_callbacksUInt8, p); break;
+            case RoveCommPacket<short> p: _processPacket(_callbacksInt16, p); break;
+            case RoveCommPacket<ushort> p: _processPacket(_callbacksUInt16, p); break;
+            case RoveCommPacket<int> p: _processPacket(_callbacksInt32, p); break;
+            case RoveCommPacket<uint> p: _processPacket(_callbacksUInt32, p); break;
+            case RoveCommPacket<float> p: _processPacket(_callbacksFloat, p); break;
+            case RoveCommPacket<double> p: _processPacket(_callbacksDouble, p); break;
+            case RoveCommPacket<char> p: _processPacket(_callbacksChar, p); break;
+            default: throw new RoveCommException("Failed to process RoveCommPacket: invalid data type.");
+        }
+    }
+    private void _processPacket<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, RoveCommPacket<T> packet)
+    {
+        if (callbacks.ContainsKey(packet.DataID))
+        {
+            callbacks[packet.DataID].Invoke(packet);
+        }
+        // Data ID 0 means subscribe to all packets.
+        if (callbacks.ContainsKey(0))
+        {
+            callbacks[0].Invoke(packet);
+        }
+    }
+
+    /// <summary>
+    /// Attach the given callback to be triggered when a RoveCommPacket with the given DataID is received.
+    /// </summary>
+    /// <param name="dataId">The DataID to listen for.</param>
+    /// <param name="handler">The function to call when the DataID is received.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void On<T>(int dataId, RoveCommCallback<T> handler)
+    {
+        switch (handler)
+        {
+            case RoveCommCallback<sbyte> h: _addCallback(_callbacksInt8, dataId, h); break;
+            case RoveCommCallback<byte> h: _addCallback(_callbacksUInt8, dataId, h); break;
+            case RoveCommCallback<short> h: _addCallback(_callbacksInt16, dataId, h); break;
+            case RoveCommCallback<ushort> h: _addCallback(_callbacksUInt16, dataId, h); break;
+            case RoveCommCallback<int> h: _addCallback(_callbacksInt32, dataId, h); break;
+            case RoveCommCallback<uint> h: _addCallback(_callbacksUInt32, dataId, h); break;
+            case RoveCommCallback<float> h: _addCallback(_callbacksFloat, dataId, h); break;
+            case RoveCommCallback<double> h: _addCallback(_callbacksDouble, dataId, h); break;
+            case RoveCommCallback<char> h: _addCallback(_callbacksChar, dataId, h); break;
+            default: throw new RoveCommException("Failed to add callback: invalid data type.");
+        }
+    }
+    private void _addCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, int dataId, RoveCommCallback<T> handler)
+    {
+        if (!callbacks.ContainsKey(dataId))
+        {
+            callbacks.Add(dataId, new RoveCommEmitter<T>());
+        }
+
+        callbacks[dataId].Notifier += handler;
+    }
+
+    /// <summary>
+    /// Clear the given callback from all DataID's.
+    /// </summary>
+    /// <param name="handler">The callback to remove.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void Clear<T>(RoveCommCallback<T> handler)
+    {
+        switch (handler)
+        {
+            case RoveCommCallback<sbyte> h: _clearCallback(_callbacksInt8, h); break;
+            case RoveCommCallback<byte> h: _clearCallback(_callbacksUInt8, h); break;
+            case RoveCommCallback<short> h: _clearCallback(_callbacksInt16, h); break;
+            case RoveCommCallback<ushort> h: _clearCallback(_callbacksUInt16, h); break;
+            case RoveCommCallback<int> h: _clearCallback(_callbacksInt32, h); break;
+            case RoveCommCallback<uint> h: _clearCallback(_callbacksUInt32, h); break;
+            case RoveCommCallback<float> h: _clearCallback(_callbacksFloat, h); break;
+            case RoveCommCallback<double> h: _clearCallback(_callbacksDouble, h); break;
+            case RoveCommCallback<char> h: _clearCallback(_callbacksChar, h); break;
+            default: throw new RoveCommException("Failed to add callback: invalid data type.");
+        }
+    }
+    private void _clearCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, RoveCommCallback<T> handler)
+    {
+        foreach (int dataId in callbacks.Keys)
+        {
+            callbacks[dataId].Notifier -= handler;
+        }
+    }
+
+    /// <summary>
+    /// Clear the given callback from the given DataID.
+    /// </summary>
+    /// <param name="dataId">The DataID to remove the callback from.</param>
+    /// <param name="handler">The callback to remove.</param>
+    /// <exception cref="Exception">Thrown if the type was invalid.</exception>
+    public void Clear<T>(int dataId, RoveCommCallback<T> handler)
+    {
+        switch (handler)
+        {
+            case RoveCommCallback<sbyte> h: _clearCallback(_callbacksInt8, dataId, h); break;
+            case RoveCommCallback<byte> h: _clearCallback(_callbacksUInt8, dataId, h); break;
+            case RoveCommCallback<short> h: _clearCallback(_callbacksInt16, dataId, h); break;
+            case RoveCommCallback<ushort> h: _clearCallback(_callbacksUInt16, dataId, h); break;
+            case RoveCommCallback<int> h: _clearCallback(_callbacksInt32, dataId, h); break;
+            case RoveCommCallback<uint> h: _clearCallback(_callbacksUInt32, dataId, h); break;
+            case RoveCommCallback<float> h: _clearCallback(_callbacksFloat, dataId, h); break;
+            case RoveCommCallback<double> h: _clearCallback(_callbacksDouble, dataId, h); break;
+            case RoveCommCallback<char> h: _clearCallback(_callbacksChar, dataId, h); break;
+            default: throw new RoveCommException("Failed to add callback: invalid data type.");
+        }
+    }
+    private void _clearCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, int dataId, RoveCommCallback<T> handler)
+    {
+        if (!callbacks.ContainsKey(dataId))
+        {
+            callbacks[dataId].Notifier -= handler;
+        }
+    }
+
+    public void Dispose()
+    {
+        Stop();
+    }
+}
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
new file mode 100644
index 0000000..c0eb28c
--- /dev/null
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
@@ -0,0 +1,354 @@
+using System.Diagnostics;
+using System.Net;
+using System.Net.Sockets;
+using Basestation_Software.Models.RoveComm;
+
+namespace Basestation_Software.Web.Core.Services.RoveComm;
+
+public class RoveCommUDP : IDisposable
+{
+    public bool Running { get; private set; }
+    public int Port { get; private set; }
+    private UdpClient? _UDPServer;
+
+    private readonly ILogger? _logger;
+
+    private class RoveCommEmitter<T>
+    {
+        public event RoveCommCallback<T>? Notifier;
+        public void Invoke(RoveCommPacket<T> packet) => Notifier?.Invoke(packet.Data);
+    }
+
+    private readonly Dictionary<int, RoveCommEmitter<sbyte>> _callbacksInt8 = [];
+    private readonly Dictionary<int, RoveCommEmitter<byte>> _callbacksUInt8 = [];
+    private readonly Dictionary<int, RoveCommEmitter<short>> _callbacksInt16 = [];
+    private readonly Dictionary<int, RoveCommEmitter<ushort>> _callbacksUInt16 = [];
+    private readonly Dictionary<int, RoveCommEmitter<int>> _callbacksInt32 = [];
+    private readonly Dictionary<int, RoveCommEmitter<uint>> _callbacksUInt32 = [];
+    private readonly Dictionary<int, RoveCommEmitter<float>> _callbacksFloat = [];
+    private readonly Dictionary<int, RoveCommEmitter<double>> _callbacksDouble = [];
+    private readonly Dictionary<int, RoveCommEmitter<char>> _callbacksChar = [];
+
+    public RoveCommUDP(int port, ILogger? logger = null)
+    {
+        Port = port;
+        _logger = logger;
+    }
+    public RoveCommUDP(ILogger? logger = null) : this(RoveCommConsts.UDPPort, logger) { }
+
+    /// <summary>
+    /// Begin accepting UDP connections and reading packets from the network.
+    /// </summary>
+    public void Begin(CancellationToken cancelToken)
+    {
+        if (Running)
+        {
+            _logger?.LogWarning("RoveComm UDP already started.");
+            return;
+        }
+
+        // Open new UDP socket.
+        _logger?.LogInformation($"Starting RoveComm UDP on port {Port}.");
+        Task.Run(async () => 
+        {
+            try
+            {
+                _UDPServer = new UdpClient(Port, AddressFamily.InterNetwork);
+                // int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
+                Running = true;
+                while (!cancelToken.IsCancellationRequested)
+                {
+                    // Read packets and trigger callbacks.
+                    await ReceiveAndCallback(cancelToken);
+                    // Don't hog the async queue.
+                    await Task.Yield();
+                }
+            }
+            catch (Exception e)
+            {
+                _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
+            }
+            finally
+            {
+                // Close UDP socket.
+                Stop();
+            }
+        }, cancelToken);
+    }
+
+    public void Stop()
+    {
+        if (!Running)
+        {
+            _logger?.LogWarning("RoveComm UDP already stopped.");
+            return;
+        }
+
+        Running = false;
+        // Close UDP socket;
+        try
+        {
+            _UDPServer!.Close();
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError($"Something went wrong closing RoveComm UDP: {e.Message}");
+            return;
+        }
+        _UDPServer = null;
+        _logger?.LogInformation("Closed RoveComm UDP.");
+    }
+
+    /// <summary>
+    /// Send a RoveCommPacket to the given IP and port.
+    /// </summary>
+    /// <param name="packet">The RoveCommPacket to send.</param>
+    /// <param name="ip">The IP to send to.</param>
+    /// <param name="port">The port to send to.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    /// <seealso cref="SendAsync"/>
+    public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
+    {
+        if (!Running)
+        {
+            throw new RoveCommException("Failed to send UDP packet: RoveComm UDP not started.");
+        }
+
+        var dest = new IPEndPoint(IPAddress.Parse(ip), port);
+        try
+        {
+            int bytesSent = _UDPServer!.Send(RoveCommUtils.PackPacket(packet), dest);
+            int expected = RoveCommConsts.HeaderSize + packet.DataCount * RoveCommUtils.DataTypeSize(packet.DataType);
+            if (bytesSent != expected)
+            {
+                _logger?.LogError($"Failed to send UDP packet: {bytesSent} of {expected} bytes sent.");
+                return false;
+            }
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError($"Failed to send UDP packet: {e.Message}");
+            return false;
+        }
+        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
+        int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
+        _logger?.LogInformation($"Sent from port: {localPort}.");
+        return true;
+    }
+    public bool Send<T>(RoveCommPacket<T> packet, string ip) => Send(packet, ip, Port);
+
+    /// <summary>
+    /// Send a RoveCommPacket to the given IP and port asynchronously.
+    /// </summary>
+    /// <param name="packet">The RoveCommPacket to send.</param>
+    /// <param name="ip">The IP to send to.</param>
+    /// <param name="port">The port to send to.</param>
+    /// <returns>True if the packet was sent successfully.</returns>
+    /// <seealso cref="Send"/>
+    public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int port, CancellationToken cancelToken = default)
+    {
+        if (!Running)
+        {
+            throw new RoveCommException("Failed to send UDP packet: RoveComm UDP not started.");
+        }
+
+        var dest = new IPEndPoint(IPAddress.Parse(ip), port);
+        try
+        {
+            int bytesSent = await _UDPServer!.SendAsync(RoveCommUtils.PackPacket(packet), dest, cancelToken);
+            int expected = RoveCommConsts.HeaderSize + packet.DataCount * RoveCommUtils.DataTypeSize(packet.DataType);
+            if (bytesSent != expected)
+            {
+                _logger?.LogError($"Failed to send UDP packet: {bytesSent} of {expected} bytes sent.");
+                return false;
+            }
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError($"Failed to send UDP packet: {e.Message}");
+            return false;
+        }
+        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
+        return true;
+    }
+    public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, CancellationToken cancelToken = default) =>
+        await SendAsync(packet, ip, Port, cancelToken);
+
+    /// <summary>
+    /// Internal method for reading packets off the network and triggering attached callbacks.
+    /// </summary>
+    public async Task ReceiveAndCallback(CancellationToken cancelToken)
+    {
+        if (!Running)
+        {
+            throw new RoveCommException("Failed to read UDP packet: RoveComm UDP not started.");
+        }
+
+        try
+        {
+            var result = await _UDPServer!.ReceiveAsync(cancelToken);
+            IPEndPoint fromIP = result.RemoteEndPoint;
+            byte[] data = result.Buffer;
+            if (result.Buffer.Length < RoveCommConsts.HeaderSize)
+            {
+                return;
+            }
+
+            RoveCommHeader header = RoveCommUtils.ParseHeader(data);
+            switch (RoveCommUtils.ParseDataType(header.DataType))
+            {
+                case RoveCommDataType.INT8_T: ProcessPacket(RoveCommUtils.ParsePacket<sbyte>(data)); break;
+                case RoveCommDataType.UINT8_T: ProcessPacket(RoveCommUtils.ParsePacket<byte>(data)); break;
+                case RoveCommDataType.INT16_T: ProcessPacket(RoveCommUtils.ParsePacket<short>(data)); break;
+                case RoveCommDataType.UINT16_T: ProcessPacket(RoveCommUtils.ParsePacket<ushort>(data)); break;
+                case RoveCommDataType.INT32_T: ProcessPacket(RoveCommUtils.ParsePacket<int>(data)); break;
+                case RoveCommDataType.UINT32_T: ProcessPacket(RoveCommUtils.ParsePacket<uint>(data)); break;
+                case RoveCommDataType.FLOAT: ProcessPacket(RoveCommUtils.ParsePacket<float>(data)); break;
+                case RoveCommDataType.DOUBLE: ProcessPacket(RoveCommUtils.ParsePacket<double>(data)); break;
+                case RoveCommDataType.CHAR: ProcessPacket(RoveCommUtils.ParsePacket<char>(data)); break;
+            }
+            _logger?.LogInformation($"UDP: Received RoveCommPacket with DataID {header.DataID}, DataCount {header.DataCount}, and DataType {header.DataType}.");
+        }
+        // RoveComm couldn't parse something:
+        catch (RoveCommException e)
+        {
+            _logger?.LogError($"Failed to read UDP packet: {e.Message}");
+        }
+        // Network problems:
+        catch (Exception e)
+        {
+            _logger?.LogError($"Failed to receive UDP data: {e.Message}");
+        }
+    }
+
+    /// <summary>
+    /// Trigger attached callbacks for the given RoveCommPacket.
+    /// </summary>
+    /// <param name="packet">The RoveCommPacket to pass to the callbacks.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void ProcessPacket<T>(RoveCommPacket<T> packet)
+    {
+        switch (packet)
+        {
+            case RoveCommPacket<sbyte> p: _processPacket(_callbacksInt8, p); break;
+            case RoveCommPacket<byte> p: _processPacket(_callbacksUInt8, p); break;
+            case RoveCommPacket<short> p: _processPacket(_callbacksInt16, p); break;
+            case RoveCommPacket<ushort> p: _processPacket(_callbacksUInt16, p); break;
+            case RoveCommPacket<int> p: _processPacket(_callbacksInt32, p); break;
+            case RoveCommPacket<uint> p: _processPacket(_callbacksUInt32, p); break;
+            case RoveCommPacket<float> p: _processPacket(_callbacksFloat, p); break;
+            case RoveCommPacket<double> p: _processPacket(_callbacksDouble, p); break;
+            case RoveCommPacket<char> p: _processPacket(_callbacksChar, p); break;
+            default: throw new RoveCommException("Failed to process RoveCommPacket: invalid data type.");
+        }
+    }
+    private void _processPacket<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, RoveCommPacket<T> packet)
+    {
+        if (callbacks.ContainsKey(packet.DataID))
+        {
+            callbacks[packet.DataID].Invoke(packet);
+        }
+        // Data ID 0 means subscribe to all packets.
+        if (callbacks.ContainsKey(0))
+        {
+            callbacks[0].Invoke(packet);
+        }
+    }
+
+    /// <summary>
+    /// Attach the given callback to be triggered when a RoveCommPacket with the given DataID is received.
+    /// </summary>
+    /// <param name="dataId">The DataID to listen for.</param>
+    /// <param name="handler">The function to call when the DataID is received.</param>
+    /// <exception cref="RoveCommException">Thrown if the type was invalid.</exception>
+    public void On<T>(int dataId, RoveCommCallback<T> handler)
+    {
+        switch (handler)
+        {
+            case RoveCommCallback<sbyte> h: _addCallback(_callbacksInt8, dataId, h); break;
+            case RoveCommCallback<byte> h: _addCallback(_callbacksUInt8, dataId, h); break;
+            case RoveCommCallback<short> h: _addCallback(_callbacksInt16, dataId, h); break;
+            case RoveCommCallback<ushort> h: _addCallback(_callbacksUInt16, dataId, h); break;
+            case RoveCommCallback<int> h: _addCallback(_callbacksInt32, dataId, h); break;
+            case RoveCommCallback<uint> h: _addCallback(_callbacksUInt32, dataId, h); break;
+            case RoveCommCallback<float> h: _addCallback(_callbacksFloat, dataId, h); break;
+            case RoveCommCallback<double> h: _addCallback(_callbacksDouble, dataId, h); break;
+            case RoveCommCallback<char> h: _addCallback(_callbacksChar, dataId, h); break;
+            default: throw new RoveCommException("Failed to add callback: invalid data type.");
+        }
+    }
+    private void _addCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, int dataId, RoveCommCallback<T> handler)
+    {
+        if (!callbacks.ContainsKey(dataId))
+        {
+            callbacks.Add(dataId, new RoveCommEmitter<T>());
+        }
+
+        callbacks[dataId].Notifier += handler;
+    }
+
+
+    /// <summary>
+    /// Clear the given callback from all DataID's.
+    /// </summary>
+    /// <param name="handler">The callback to remove.</param>
+    /// <exception cref="Exception">Thrown if the type was invalid.</exception>
+    public void Clear<T>(RoveCommCallback<T> handler)
+    {
+        switch (handler)
+        {
+            case RoveCommCallback<sbyte> h: _clearCallback(_callbacksInt8, h); break;
+            case RoveCommCallback<byte> h: _clearCallback(_callbacksUInt8, h); break;
+            case RoveCommCallback<short> h: _clearCallback(_callbacksInt16, h); break;
+            case RoveCommCallback<ushort> h: _clearCallback(_callbacksUInt16, h); break;
+            case RoveCommCallback<int> h: _clearCallback(_callbacksInt32, h); break;
+            case RoveCommCallback<uint> h: _clearCallback(_callbacksUInt32, h); break;
+            case RoveCommCallback<float> h: _clearCallback(_callbacksFloat, h); break;
+            case RoveCommCallback<double> h: _clearCallback(_callbacksDouble, h); break;
+            case RoveCommCallback<char> h: _clearCallback(_callbacksChar, h); break;
+            default: throw new RoveCommException("Failed to add callback: invalid data type.");
+        }
+    }
+    private void _clearCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, RoveCommCallback<T> handler)
+    {
+        foreach (int dataId in callbacks.Keys)
+        {
+            callbacks[dataId].Notifier -= handler;
+        }
+    }
+
+    /// <summary>
+    /// Clear the given callback from the given DataID.
+    /// </summary>
+    /// <param name="dataId">The DataID to remove the callback from.</param>
+    /// <param name="handler">The callback to remove.</param>
+    /// <exception cref="Exception">Thrown if the type was invalid.</exception>
+    public void Clear<T>(int dataId, RoveCommCallback<T> handler)
+    {
+        switch (handler)
+        {
+            case RoveCommCallback<sbyte> h: _clearCallback(_callbacksInt8, dataId, h); break;
+            case RoveCommCallback<byte> h: _clearCallback(_callbacksUInt8, dataId, h); break;
+            case RoveCommCallback<short> h: _clearCallback(_callbacksInt16, dataId, h); break;
+            case RoveCommCallback<ushort> h: _clearCallback(_callbacksUInt16, dataId, h); break;
+            case RoveCommCallback<int> h: _clearCallback(_callbacksInt32, dataId, h); break;
+            case RoveCommCallback<uint> h: _clearCallback(_callbacksUInt32, dataId, h); break;
+            case RoveCommCallback<float> h: _clearCallback(_callbacksFloat, dataId, h); break;
+            case RoveCommCallback<double> h: _clearCallback(_callbacksDouble, dataId, h); break;
+            case RoveCommCallback<char> h: _clearCallback(_callbacksChar, dataId, h); break;
+            default: throw new RoveCommException("Failed to add callback: invalid data type.");
+        }
+    }
+    private void _clearCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, int dataId, RoveCommCallback<T> handler)
+    {
+        if (!callbacks.ContainsKey(dataId))
+        {
+            callbacks[dataId].Notifier -= handler;
+        }
+    }
+
+    public void Dispose()
+    {
+        Stop();
+    }
+}
\ No newline at end of file
diff --git a/Basestation_Software.Web/Core/_Imports.razor b/Basestation_Software.Web/Core/_Imports.razor
index 7d90958..48a3dc5 100644
--- a/Basestation_Software.Web/Core/_Imports.razor
+++ b/Basestation_Software.Web/Core/_Imports.razor
@@ -10,9 +10,11 @@
 @using Basestation_Software.Web
 @using Basestation_Software.Web.Core
 @using Basestation_Software.Web.Core.Services
+@using Basestation_Software.Web.Core.Services.RoveComm
 @using Basestation_Software.Web.Core.Components
 @using Basestation_Software.Models.Geospatial
 @using Basestation_Software.Models.Timers
+@using Basestation_Software.Models.RoveComm
 @using Radzen
 @using Radzen.Blazor
 @using Blazored.Toast
@@ -22,4 +24,5 @@
 @using LeafletForBlazor
 
 @inject CookieService _CookieService
-@inject IToastService _ToastService
\ No newline at end of file
+@inject IToastService _ToastService
+@* @inject RoveCommService RoveComm *@
\ No newline at end of file
diff --git a/Basestation_Software.Web/Program.cs b/Basestation_Software.Web/Program.cs
index 8bc2503..9ebd997 100644
--- a/Basestation_Software.Web/Program.cs
+++ b/Basestation_Software.Web/Program.cs
@@ -1,5 +1,6 @@
 using Basestation_Software.Web.Core;
 using Basestation_Software.Web.Core.Services;
+using Basestation_Software.Web.Core.Services.RoveComm;
 using Blazored.Toast;
 using Radzen;
 
@@ -24,6 +25,8 @@
 builder.Services.AddSingleton<MapTileService>();
 builder.Services.AddSingleton<TaskTimerService>();
 
+builder.Services.AddSingleton<RoveCommService>();
+builder.Services.AddHostedService((sp) => sp.GetRequiredService<RoveCommService>());
 
 builder.Services.AddBlazoredToast();
 

From dc949a4030bab0f7e579b823c27089b948128dd6 Mon Sep 17 00:00:00 2001
From: OcelotEmpire <hobbz.pi@gmail.com>
Date: Sun, 22 Sep 2024 03:46:40 -0500
Subject: [PATCH 07/15] improved log messages, fixed object lifetime bugs, and
 added some utility functions

---
 .../RoveComm/RoveCommManifest.cs              |   1 +
 .../RoveComm/RoveCommUtils.cs                 |  48 ++++-
 .../Core/Components/RoveCommExample.razor     |  23 ++-
 .../Core/Services/RoveComm/RoveCommService.cs | 177 ++++++------------
 .../Core/Services/RoveComm/RoveCommTCP.cs     |  29 ++-
 .../Core/Services/RoveComm/RoveCommUDP.cs     |  46 ++---
 6 files changed, 162 insertions(+), 162 deletions(-)

diff --git a/Basestation_Software.Models/RoveComm/RoveCommManifest.cs b/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
index abc2f33..05eed85 100644
--- a/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
+++ b/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
@@ -7,6 +7,7 @@ public static class RoveCommConsts
     public static readonly int TCPPort = 12000;
     public static readonly int HeaderSize = 6;
     public static readonly int MaxDataSize = 65535 / 3;
+	public static readonly int UpdateRate = 100; // milliseconds
 }
 
 public enum RoveCommDataType
diff --git a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
index 2b562a5..73a4b46 100644
--- a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
+++ b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
@@ -96,16 +96,46 @@ public static RoveCommDataType DataTypeFromType(Type type)
         };
     }
 
+	/// <summary>
+	/// Query a board's info form the Manifest by its name.
+	/// </summary>
+	/// <param name="boardName">The name of the board.</param>
+	/// <param name="boardDesc">The RoveCommBoardDesc to fill in with informaiton, if the board is found.</param>
+	/// <returns>True if the board was found in the Manifest.</returns>
+	public static bool FindBoardByName(string boardName, out RoveCommBoardDesc? boardDesc)
+	{
+		return RoveCommManifest.Boards.TryGetValue(boardName, out boardDesc);
+	}
 
-    /// <summary>
-    /// Read a RoveCommPacket header from the given byte buffer.
-    /// </summary>
-    /// <param name="data">The byte buffer to read; assumed to be in Big Endian.</param>
-    /// <returns>The parsed RoveCommHeader.</returns>
-    /// <exception cref="RoveCommException">
-    /// Thrown if a RoveCommHeader could not be read from the given buffer.
-    /// </exception>
-    public static RoveCommHeader ParseHeader(ReadOnlySpan<byte> data)
+	/// <summary>
+	/// Query board and packet info from the Manifest by their names.
+	/// </summary>
+	/// <param name="boardName">The name of the board.</param>
+	/// <param name="dataIdString">The name of the packet.</param>
+	/// <param name="boardDesc">The RoveCommBoardDesc to fill in with information, if the board is found.</param>
+	/// <param name="packetDesc">The RoveCommPacketDesc to fill in with information, if the packet is found.</param>
+	/// <returns>True only if both the board and the packet were found in the manifest.</returns>
+	public static bool FindByBoardAndDataID(string boardName, string dataIdString, out RoveCommBoardDesc? boardDesc, out RoveCommPacketDesc? packetDesc)
+	{
+		packetDesc = null;
+		return RoveCommManifest.Boards.TryGetValue(boardName, out boardDesc)
+			&& (
+				   boardDesc.Commands.TryGetValue(dataIdString, out packetDesc)
+				|| boardDesc.Telemetry.TryGetValue(dataIdString, out packetDesc)
+				|| boardDesc.Errors.TryGetValue(dataIdString, out packetDesc)
+			);
+	}
+
+
+	/// <summary>
+	/// Read a RoveCommPacket header from the given byte buffer.
+	/// </summary>
+	/// <param name="data">The byte buffer to read; assumed to be in Big Endian.</param>
+	/// <returns>The parsed RoveCommHeader.</returns>
+	/// <exception cref="RoveCommException">
+	/// Thrown if a RoveCommHeader could not be read from the given buffer.
+	/// </exception>
+	public static RoveCommHeader ParseHeader(ReadOnlySpan<byte> data)
     {
         if (data.Length < RoveCommConsts.HeaderSize)
         {
diff --git a/Basestation_Software.Web/Core/Components/RoveCommExample.razor b/Basestation_Software.Web/Core/Components/RoveCommExample.razor
index 28b486c..4ce01b1 100644
--- a/Basestation_Software.Web/Core/Components/RoveCommExample.razor
+++ b/Basestation_Software.Web/Core/Components/RoveCommExample.razor
@@ -9,9 +9,10 @@
     <div class="card-body scrollable">
         <div class="row">
             <div class="col">
-                <button type="button" class="btn btn-primary" @onclick="()=>SendPacketUDP()">Send UDP Packet</button>
-                <button type="button" class="btn btn-primary" @onclick="()=>SendPacketTCP()">Send TCP Packet</button>
-                <button type="button" class="btn btn-primary" disabled="@_isDisabled" @onclick="()=>ListenForPacket()">Listen for Packet</button>
+                <button type="button" class="btn btn-primary" @onclick="SendPacketUDP">Send UDP Packet</button>
+                <button type="button" class="btn btn-primary" @onclick="SendPacketTCP">Send TCP Packet</button>
+                <button type="button" class="btn btn-primary" @onclick="SendManifestPacket">Send Packet From Manifest</button>
+                <button type="button" class="btn btn-primary" disabled="@_isDisabled" @onclick="ListenForPacket">Listen for Packet</button>
             </div>
             <h3>@_message</h3>
             @if (!_dataLoaded)
@@ -46,8 +47,14 @@
 
     protected override async Task OnInitializedAsync()
     {
-        // Subscribe to all DataIDs.
+        // Subscribe to all DataIDs (only for INT32_T packets).
         _RoveCommService.On<int>(0, AddMessage);
+        _RoveCommService.On<float>("Core", "DriveLeftRight", async (payload) =>
+        {
+            _messages.Add("Received DriveLeftRight packet.");
+            _dataLoaded = true;
+            await InvokeAsync(StateHasChanged);
+        });
 
         await InvokeAsync(StateHasChanged);
     }
@@ -83,6 +90,14 @@
         _isDisabled = false;
     }
 
+    public async Task SendManifestPacket()
+    {
+        await _RoveCommService.SendAsync<float>("Core", "DriveLeftRight", [5.5f, 5.5f]);
+        // For testing, also send a copy to the loopback address, since RoveComm will send the packet to 192.168.2.110.
+        RoveCommUtils.FindByBoardAndDataID("Core", "DriveLeftRight", out var board, out var packet);
+        await _RoveCommService.SendAsync<float>(packet!.DataID, [5.5f, 5.5f], "127.0.0.1");
+    }
+
     public async ValueTask DisposeAsync()
     {
         _RoveCommService.Clear<int>(AddMessage);
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
index 76dece2..d0780df 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
@@ -62,32 +62,20 @@ public void On<T>(int dataId, RoveCommCallback<T> handler)
     /// </exception>
     public void On<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
     {
-        RoveCommPacketDesc? packetDesc;
-        if (RoveCommManifest.Boards.ContainsKey(boardName))
-        {
-            var boardDesc = RoveCommManifest.Boards[boardName];
-            if (boardDesc.Telemetry.ContainsKey(dataIdString))
-            {
-                packetDesc = boardDesc.Telemetry[dataIdString];
-            }
-            else if (boardDesc.Errors.ContainsKey(dataIdString))
-            {
-                packetDesc = boardDesc.Errors[dataIdString];
-            }
-            else
-            {
-                throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
-            }
-        }
-        else
-        {
-            throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
-        }
-
-        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+		RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+		if (boardDesc is null)
+		{
+			throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
+		}
+		else if (packetDesc is null)
+		{
+			throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
+		}
+
+		RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString}.");
+            throw new Exception($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
         }
 
         On(packetDesc.DataID, handler);
@@ -114,6 +102,7 @@ public void Clear<T>(int dataId, RoveCommCallback<T> handler)
     {
         UDP.Clear(dataId, handler);
         TCP.Clear(dataId, handler);
+		_logger.LogInformation($"Unsubscribed from {dataId} with type {RoveCommUtils.DataTypeFromType(typeof(T))}.");
     }
 
     /// <summary>
@@ -127,36 +116,23 @@ public void Clear<T>(int dataId, RoveCommCallback<T> handler)
     /// </exception>
     public void Clear<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
     {
-        RoveCommPacketDesc? packetDesc;
-        if (RoveCommManifest.Boards.ContainsKey(boardName))
-        {
-            var boardDesc = RoveCommManifest.Boards[boardName];
-            if (boardDesc.Telemetry.ContainsKey(dataIdString))
-            {
-                packetDesc = boardDesc.Telemetry[dataIdString];
-            }
-            else if (boardDesc.Errors.ContainsKey(dataIdString))
-            {
-                packetDesc = boardDesc.Errors[dataIdString];
-            }
-            else
-            {
-                throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
-            }
-        }
-        else
-        {
-            throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
-        }
-
-        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+		RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+		if (boardDesc is null)
+		{
+			throw new Exception($"Failed to unsubscribe from RoveComm: {boardName} Board not found in RoveCommManifest.");
+		}
+		else if (packetDesc is null)
+		{
+			throw new Exception($"Failed to unsubscribe from RoveComm: {dataIdString} not found for {boardName} Board.");
+		}
+
+		RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString}.");
+            throw new Exception($"Failed to unsubscribe from RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
         }
 
-        UDP.Clear(packetDesc.DataID, handler);
-        TCP.Clear(packetDesc.DataID, handler);
+        Clear(packetDesc.DataID, handler);
     }
 
     /// <summary>
@@ -212,37 +188,20 @@ public async Task<bool> SendAsync<T>(int dataId, List<T> data, string ip, bool r
     /// </exception>
     public bool Send<T>(string boardName, string commandName, List<T> data, bool reliable = false)
     {
-        RoveCommBoardDesc? boardDesc;
-        RoveCommPacketDesc? packetDesc;
-        if (RoveCommManifest.Boards.ContainsKey(boardName))
-        {
-            boardDesc = RoveCommManifest.Boards[boardName];
-            if (boardDesc.Commands.ContainsKey(commandName))
-            {
-                packetDesc = boardDesc.Commands[commandName];
-            }
-            else if (boardDesc.Telemetry.ContainsKey(commandName))
-            {
-                packetDesc = boardDesc.Telemetry[commandName];
-            }
-            else if (boardDesc.Errors.ContainsKey(commandName))
-            {
-                packetDesc = boardDesc.Errors[commandName];
-            }
-            else
-            {
-                throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
-            }
-        }
-        else
-        {
+		RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
+        if (boardDesc is null)
+		{
             throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
         }
+		else if (packetDesc is null)
+		{
+			throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+		}
 
         RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName}.");
+            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName} ({packetDesc.DataType}).");
         }
 
         if (data.Count != packetDesc.DataCount)
@@ -266,37 +225,20 @@ public bool Send<T>(string boardName, string commandName, List<T> data, bool rel
     /// </exception>
     public async Task<bool> SendAsync<T>(string boardName, string commandName, List<T> data, bool reliable = false, CancellationToken cancelToken = default)
     {
-        RoveCommBoardDesc? boardDesc;
-        RoveCommPacketDesc? packetDesc;
-        if (RoveCommManifest.Boards.ContainsKey(boardName))
-        {
-            boardDesc = RoveCommManifest.Boards[boardName];
-            if (boardDesc.Commands.ContainsKey(commandName))
-            {
-                packetDesc = boardDesc.Commands[commandName];
-            }
-            else if (boardDesc.Telemetry.ContainsKey(commandName))
-            {
-                packetDesc = boardDesc.Telemetry[commandName];
-            }
-            else if (boardDesc.Errors.ContainsKey(commandName))
-            {
-                packetDesc = boardDesc.Errors[commandName];
-            }
-            else
-            {
-                throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
-            }
-        }
-        else
-        {
-            throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
-        }
-
-        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+		RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
+		if (boardDesc is null)
+		{
+			throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
+		}
+		else if (packetDesc is null)
+		{
+			throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+		}
+
+		RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName}.");
+            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName} ({packetDesc.DataType}).");
         }
 
         if (data.Count != packetDesc.DataCount)
@@ -327,19 +269,18 @@ public async Task<bool> SendAsync<T>(string boardName, string commandName, List<
         var cancel = cts.Token;
         cts.CancelAfter(timeout);
 
-        using (cancel.Register(() => {
-            Clear(dataId, callback);
-        }))
+        try
+        {
+            return await promise.Task.WaitAsync(cancel);
+        }
+        catch (OperationCanceledException)
         {
-            try
-            {
-                return await promise.Task.WaitAsync(cancel);
-            }
-            catch (OperationCanceledException)
-            {
-                return null;
-            }
+            return null;
         }
+		finally
+		{
+			Clear(dataId, callback);
+		}
     }
 
     public void Subscribe(string boardName)
@@ -351,7 +292,7 @@ public void Subscribe(string boardName)
     }
     public void SubscribeAll()
     {
-        foreach (var (_, board) in RoveCommManifest.Boards)
+        foreach (var board in RoveCommManifest.Boards.Values)
         {
             Send(RoveCommManifest.SystemPackets.SUBSCRIBE, [1], board.IP);
         }
@@ -366,7 +307,7 @@ public void Unubscribe(string boardName)
     }
     public void UnsubscribeAll()
     {
-        foreach (var (_, board) in RoveCommManifest.Boards)
+        foreach (var board in RoveCommManifest.Boards.Values)
         {
             Send(RoveCommManifest.SystemPackets.UNSUBSCRIBE, [1], board.IP);
         }
@@ -381,7 +322,7 @@ public void Ping(string boardName)
     }
     public void PingAll()
     {
-        foreach (var (_, board) in RoveCommManifest.Boards)
+        foreach (var board in RoveCommManifest.Boards.Values)
         {
             Send(RoveCommManifest.SystemPackets.PING, [1], board.IP);
         }
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
index 6a9330a..e1fbf2a 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
@@ -69,18 +69,19 @@ public void Begin(CancellationToken cancelToken)
                     {
                         TcpClient client = await _TCPServer!.AcceptTcpClientAsync(cancelToken);
                         _connections.Add(client);
-                        _logger?.LogError($"Established connection with {client.Client.RemoteEndPoint}");
+                        _logger?.LogInformation($"Accepted connection with remote: {client.Client.RemoteEndPoint}");
                     }
                     // Read packets and trigger callbacks.
                     await ReceiveAndCallback(cancelToken);
                     // Don't hog the async queue.
-                    await Task.Yield();
+                    await Task.Delay(RoveCommConsts.UpdateRate);
                 }
             }
             catch (Exception e)
             {
                 _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
-            }
+				_logger?.LogError(e.StackTrace);
+			}
             finally
             {
                 // Close connections.
@@ -204,7 +205,7 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
             _logger?.LogError($"Failed to send TCP packet: {e.Message}");
             return false;
         }
-        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
+        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID} and type {packet.DataType}[{packet.DataCount}] to {dest}.");
         return true;
     }
     public bool Send<T>(RoveCommPacket<T> packet, string ip) => Send(packet, ip, Port);
@@ -255,9 +256,9 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
         {
             _logger?.LogError($"Failed to send TCP packet: {e.Message}");
             return false;
-        }
-        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
-        return true;
+		}
+		_logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID} and type {packet.DataType}[{packet.DataCount}] to {dest}.");
+		return true;
     }
     public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, CancellationToken cancelToken = default) =>
         await SendAsync(packet, ip, Port, cancelToken);
@@ -278,6 +279,12 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
         {
             try
             {
+				// Check if the client has enough bytes available to read a packet.
+				// TCP is a stream protocol, so if not enough bytes are available now, more will come in later.
+				if (connection.Client.Available < RoveCommConsts.HeaderSize)
+				{
+					continue;
+				}
                 // Get a reference to the stream managed by the TcpClient.
                 NetworkStream stream = connection.GetStream();
                 // Quit reading if no new data is received after 30 seconds.
@@ -289,8 +296,10 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
                 int bytesRead = await stream.ReadAsync(headerBuf, cancelToken);
                 if (bytesRead == 0)
                 {
+					_logger?.LogWarning("Failed to receive TCP data.");
                     return;
                 }
+
                 RoveCommHeader header = RoveCommUtils.ParseHeader(readBuf);
                 RoveCommDataType dataType = RoveCommUtils.ParseDataType(header.DataType);
                 int dataTypeSize = RoveCommUtils.DataTypeSize(dataType);
@@ -312,7 +321,7 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
                     case RoveCommDataType.DOUBLE: ProcessPacket(RoveCommUtils.ParsePacket<double>(packetBuf.Span)); break;
                     case RoveCommDataType.CHAR: ProcessPacket(RoveCommUtils.ParsePacket<char>(packetBuf.Span)); break;
                 }
-                _logger?.LogInformation($"TCP: Received RoveCommPacket with DataID {header.DataID}, DataCount {header.DataCount}, and DataType {dataType}.");
+                _logger?.LogInformation($"TCP: Received RoveCommPacket with DataID {header.DataID} and Data {dataType}[{header.DataCount}] from {connection.Client.RemoteEndPoint as IPEndPoint}.");
             }
             // RoveComm couldn't parse something:
             catch (RoveCommException e)
@@ -417,9 +426,9 @@ public void Clear<T>(RoveCommCallback<T> handler)
     }
     private void _clearCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, RoveCommCallback<T> handler)
     {
-        foreach (int dataId in callbacks.Keys)
+        foreach (var emitter in callbacks.Values)
         {
-            callbacks[dataId].Notifier -= handler;
+            emitter.Notifier -= handler;
         }
     }
 
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
index c0eb28c..c3c336b 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
@@ -61,12 +61,13 @@ public void Begin(CancellationToken cancelToken)
                     // Read packets and trigger callbacks.
                     await ReceiveAndCallback(cancelToken);
                     // Don't hog the async queue.
-                    await Task.Yield();
-                }
-            }
+                    await Task.Delay(RoveCommConsts.UpdateRate);
+				}
+			}
             catch (Exception e)
             {
                 _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
+				_logger?.LogError(e.StackTrace);
             }
             finally
             {
@@ -129,11 +130,11 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         {
             _logger?.LogError($"Failed to send UDP packet: {e.Message}");
             return false;
-        }
-        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
-        int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
-        _logger?.LogInformation($"Sent from port: {localPort}.");
-        return true;
+		}
+		_logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID} and Data {packet.DataType}[{packet.DataCount}] to {dest}.");
+		// int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
+		// _logger?.LogInformation($"Sent from port: {localPort}.");
+		return true;
     }
     public bool Send<T>(RoveCommPacket<T> packet, string ip) => Send(packet, ip, Port);
 
@@ -168,7 +169,7 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
             _logger?.LogError($"Failed to send UDP packet: {e.Message}");
             return false;
         }
-        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID}, DataCount {packet.DataCount}, and DataType {packet.DataType}.");
+        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID} and Data {packet.DataType}[{packet.DataCount}] to {dest}.");
         return true;
     }
     public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, CancellationToken cancelToken = default) =>
@@ -186,16 +187,19 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken)
 
         try
         {
+			// We still want to process datagrams which are too small to parse; we just discard them.
+			if (_UDPServer!.Available == 0)
+			{
+				return;
+			}
+
             var result = await _UDPServer!.ReceiveAsync(cancelToken);
             IPEndPoint fromIP = result.RemoteEndPoint;
             byte[] data = result.Buffer;
-            if (result.Buffer.Length < RoveCommConsts.HeaderSize)
-            {
-                return;
-            }
-
+			// If there aren't enough bytes to parse the header, the error will be caught and logged.
             RoveCommHeader header = RoveCommUtils.ParseHeader(data);
-            switch (RoveCommUtils.ParseDataType(header.DataType))
+			RoveCommDataType dataType = RoveCommUtils.ParseDataType(header.DataType);
+            switch (dataType)
             {
                 case RoveCommDataType.INT8_T: ProcessPacket(RoveCommUtils.ParsePacket<sbyte>(data)); break;
                 case RoveCommDataType.UINT8_T: ProcessPacket(RoveCommUtils.ParsePacket<byte>(data)); break;
@@ -207,10 +211,10 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken)
                 case RoveCommDataType.DOUBLE: ProcessPacket(RoveCommUtils.ParsePacket<double>(data)); break;
                 case RoveCommDataType.CHAR: ProcessPacket(RoveCommUtils.ParsePacket<char>(data)); break;
             }
-            _logger?.LogInformation($"UDP: Received RoveCommPacket with DataID {header.DataID}, DataCount {header.DataCount}, and DataType {header.DataType}.");
-        }
-        // RoveComm couldn't parse something:
-        catch (RoveCommException e)
+			_logger?.LogInformation($"UDP: Received RoveCommPacket with DataID {header.DataID} and Data {dataType}[{header.DataCount}] from {fromIP}.");
+		}
+		// RoveComm couldn't parse something:
+		catch (RoveCommException e)
         {
             _logger?.LogError($"Failed to read UDP packet: {e.Message}");
         }
@@ -311,9 +315,9 @@ public void Clear<T>(RoveCommCallback<T> handler)
     }
     private void _clearCallback<T>(Dictionary<int, RoveCommEmitter<T>> callbacks, RoveCommCallback<T> handler)
     {
-        foreach (int dataId in callbacks.Keys)
+        foreach (var emitter in callbacks.Values)
         {
-            callbacks[dataId].Notifier -= handler;
+            emitter.Notifier -= handler;
         }
     }
 

From cfa5a3e341b7b3d03ff3766a4944ece66b358be2 Mon Sep 17 00:00:00 2001
From: OcelotEmpire <hobbz.pi@gmail.com>
Date: Sun, 22 Sep 2024 09:16:48 +0000
Subject: [PATCH 08/15] visual studio was using tabs >:(

---
 .../RoveComm/RoveCommManifest.cs              |  2 +-
 .../RoveComm/RoveCommUtils.cs                 | 80 +++++++--------
 .../Core/Services/RoveComm/RoveCommService.cs | 97 ++++++++++---------
 .../Core/Services/RoveComm/RoveCommTCP.cs     | 24 ++---
 .../Core/Services/RoveComm/RoveCommUDP.cs     | 40 ++++----
 5 files changed, 122 insertions(+), 121 deletions(-)

diff --git a/Basestation_Software.Models/RoveComm/RoveCommManifest.cs b/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
index 05eed85..33e0bde 100644
--- a/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
+++ b/Basestation_Software.Models/RoveComm/RoveCommManifest.cs
@@ -7,7 +7,7 @@ public static class RoveCommConsts
     public static readonly int TCPPort = 12000;
     public static readonly int HeaderSize = 6;
     public static readonly int MaxDataSize = 65535 / 3;
-	public static readonly int UpdateRate = 100; // milliseconds
+    public static readonly int UpdateRate = 100; // milliseconds
 }
 
 public enum RoveCommDataType
diff --git a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
index 73a4b46..ed86ca3 100644
--- a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
+++ b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
@@ -96,46 +96,46 @@ public static RoveCommDataType DataTypeFromType(Type type)
         };
     }
 
-	/// <summary>
-	/// Query a board's info form the Manifest by its name.
-	/// </summary>
-	/// <param name="boardName">The name of the board.</param>
-	/// <param name="boardDesc">The RoveCommBoardDesc to fill in with informaiton, if the board is found.</param>
-	/// <returns>True if the board was found in the Manifest.</returns>
-	public static bool FindBoardByName(string boardName, out RoveCommBoardDesc? boardDesc)
-	{
-		return RoveCommManifest.Boards.TryGetValue(boardName, out boardDesc);
-	}
-
-	/// <summary>
-	/// Query board and packet info from the Manifest by their names.
-	/// </summary>
-	/// <param name="boardName">The name of the board.</param>
-	/// <param name="dataIdString">The name of the packet.</param>
-	/// <param name="boardDesc">The RoveCommBoardDesc to fill in with information, if the board is found.</param>
-	/// <param name="packetDesc">The RoveCommPacketDesc to fill in with information, if the packet is found.</param>
-	/// <returns>True only if both the board and the packet were found in the manifest.</returns>
-	public static bool FindByBoardAndDataID(string boardName, string dataIdString, out RoveCommBoardDesc? boardDesc, out RoveCommPacketDesc? packetDesc)
-	{
-		packetDesc = null;
-		return RoveCommManifest.Boards.TryGetValue(boardName, out boardDesc)
-			&& (
-				   boardDesc.Commands.TryGetValue(dataIdString, out packetDesc)
-				|| boardDesc.Telemetry.TryGetValue(dataIdString, out packetDesc)
-				|| boardDesc.Errors.TryGetValue(dataIdString, out packetDesc)
-			);
-	}
-
-
-	/// <summary>
-	/// Read a RoveCommPacket header from the given byte buffer.
-	/// </summary>
-	/// <param name="data">The byte buffer to read; assumed to be in Big Endian.</param>
-	/// <returns>The parsed RoveCommHeader.</returns>
-	/// <exception cref="RoveCommException">
-	/// Thrown if a RoveCommHeader could not be read from the given buffer.
-	/// </exception>
-	public static RoveCommHeader ParseHeader(ReadOnlySpan<byte> data)
+    /// <summary>
+    /// Query a board's info form the Manifest by its name.
+    /// </summary>
+    /// <param name="boardName">The name of the board.</param>
+    /// <param name="boardDesc">The RoveCommBoardDesc to fill in with informaiton, if the board is found.</param>
+    /// <returns>True if the board was found in the Manifest.</returns>
+    public static bool FindBoardByName(string boardName, out RoveCommBoardDesc? boardDesc)
+    {
+        return RoveCommManifest.Boards.TryGetValue(boardName, out boardDesc);
+    }
+
+    /// <summary>
+    /// Query board and packet info from the Manifest by their names.
+    /// </summary>
+    /// <param name="boardName">The name of the board.</param>
+    /// <param name="dataIdString">The name of the packet.</param>
+    /// <param name="boardDesc">The RoveCommBoardDesc to fill in with information, if the board is found.</param>
+    /// <param name="packetDesc">The RoveCommPacketDesc to fill in with information, if the packet is found.</param>
+    /// <returns>True only if both the board and the packet were found in the manifest.</returns>
+    public static bool FindByBoardAndDataID(string boardName, string dataIdString, out RoveCommBoardDesc? boardDesc, out RoveCommPacketDesc? packetDesc)
+    {
+        packetDesc = null;
+        return RoveCommManifest.Boards.TryGetValue(boardName, out boardDesc)
+            && (
+                   boardDesc.Commands.TryGetValue(dataIdString, out packetDesc)
+                || boardDesc.Telemetry.TryGetValue(dataIdString, out packetDesc)
+                || boardDesc.Errors.TryGetValue(dataIdString, out packetDesc)
+            );
+    }
+
+
+    /// <summary>
+    /// Read a RoveCommPacket header from the given byte buffer.
+    /// </summary>
+    /// <param name="data">The byte buffer to read; assumed to be in Big Endian.</param>
+    /// <returns>The parsed RoveCommHeader.</returns>
+    /// <exception cref="RoveCommException">
+    /// Thrown if a RoveCommHeader could not be read from the given buffer.
+    /// </exception>
+    public static RoveCommHeader ParseHeader(ReadOnlySpan<byte> data)
     {
         if (data.Length < RoveCommConsts.HeaderSize)
         {
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
index d0780df..4037267 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
@@ -62,17 +62,17 @@ public void On<T>(int dataId, RoveCommCallback<T> handler)
     /// </exception>
     public void On<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
     {
-		RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
-		if (boardDesc is null)
-		{
-			throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
-		}
-		else if (packetDesc is null)
-		{
-			throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
-		}
-
-		RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+        RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+        if (boardDesc is null)
+        {
+            throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
+        }
+        else if (packetDesc is null)
+        {
+            throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
+        }
+
+        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
             throw new Exception($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
@@ -102,7 +102,7 @@ public void Clear<T>(int dataId, RoveCommCallback<T> handler)
     {
         UDP.Clear(dataId, handler);
         TCP.Clear(dataId, handler);
-		_logger.LogInformation($"Unsubscribed from {dataId} with type {RoveCommUtils.DataTypeFromType(typeof(T))}.");
+        _logger.LogInformation($"Unsubscribed from {dataId} with type {RoveCommUtils.DataTypeFromType(typeof(T))}.");
     }
 
     /// <summary>
@@ -116,17 +116,17 @@ public void Clear<T>(int dataId, RoveCommCallback<T> handler)
     /// </exception>
     public void Clear<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
     {
-		RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
-		if (boardDesc is null)
-		{
-			throw new Exception($"Failed to unsubscribe from RoveComm: {boardName} Board not found in RoveCommManifest.");
-		}
-		else if (packetDesc is null)
-		{
-			throw new Exception($"Failed to unsubscribe from RoveComm: {dataIdString} not found for {boardName} Board.");
-		}
-
-		RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+        RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+        if (boardDesc is null)
+        {
+            throw new Exception($"Failed to unsubscribe from RoveComm: {boardName} Board not found in RoveCommManifest.");
+        }
+        else if (packetDesc is null)
+        {
+            throw new Exception($"Failed to unsubscribe from RoveComm: {dataIdString} not found for {boardName} Board.");
+        }
+
+        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
             throw new Exception($"Failed to unsubscribe from RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
@@ -188,15 +188,15 @@ public async Task<bool> SendAsync<T>(int dataId, List<T> data, string ip, bool r
     /// </exception>
     public bool Send<T>(string boardName, string commandName, List<T> data, bool reliable = false)
     {
-		RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
+        RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
-		{
+        {
             throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
         }
-		else if (packetDesc is null)
-		{
-			throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
-		}
+        else if (packetDesc is null)
+        {
+            throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+        }
 
         RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
@@ -225,17 +225,17 @@ public bool Send<T>(string boardName, string commandName, List<T> data, bool rel
     /// </exception>
     public async Task<bool> SendAsync<T>(string boardName, string commandName, List<T> data, bool reliable = false, CancellationToken cancelToken = default)
     {
-		RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
-		if (boardDesc is null)
-		{
-			throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
-		}
-		else if (packetDesc is null)
-		{
-			throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
-		}
-
-		RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
+        RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
+        if (boardDesc is null)
+        {
+            throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
+        }
+        else if (packetDesc is null)
+        {
+            throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+        }
+
+        RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
             throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName} ({packetDesc.DataType}).");
@@ -258,10 +258,11 @@ public async Task<bool> SendAsync<T>(string boardName, string commandName, List<
     public async Task<List<T>?> Listen<T>(int dataId, int timeout = 30_000)
     {
         var promise = new TaskCompletionSource<List<T>>();
-        RoveCommCallback<T> callback = async (payload) => {
-                promise.SetResult(payload);
-                await Task.CompletedTask;
-            };
+        RoveCommCallback<T> callback = async (payload) =>
+        {
+            promise.SetResult(payload);
+            await Task.CompletedTask;
+        };
 
         On(dataId, callback);
 
@@ -277,10 +278,10 @@ public async Task<bool> SendAsync<T>(string boardName, string commandName, List<
         {
             return null;
         }
-		finally
-		{
-			Clear(dataId, callback);
-		}
+        finally
+        {
+            Clear(dataId, callback);
+        }
     }
 
     public void Subscribe(string boardName)
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
index e1fbf2a..0897ba4 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
@@ -80,8 +80,8 @@ public void Begin(CancellationToken cancelToken)
             catch (Exception e)
             {
                 _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
-				_logger?.LogError(e.StackTrace);
-			}
+                _logger?.LogError(e.StackTrace);
+            }
             finally
             {
                 // Close connections.
@@ -256,9 +256,9 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
         {
             _logger?.LogError($"Failed to send TCP packet: {e.Message}");
             return false;
-		}
-		_logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID} and type {packet.DataType}[{packet.DataCount}] to {dest}.");
-		return true;
+        }
+        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID} and type {packet.DataType}[{packet.DataCount}] to {dest}.");
+        return true;
     }
     public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, CancellationToken cancelToken = default) =>
         await SendAsync(packet, ip, Port, cancelToken);
@@ -279,12 +279,12 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
         {
             try
             {
-				// Check if the client has enough bytes available to read a packet.
-				// TCP is a stream protocol, so if not enough bytes are available now, more will come in later.
-				if (connection.Client.Available < RoveCommConsts.HeaderSize)
-				{
-					continue;
-				}
+                // Check if the client has enough bytes available to read a packet.
+                // TCP is a stream protocol, so if not enough bytes are available now, more will come in later.
+                if (connection.Client.Available < RoveCommConsts.HeaderSize)
+                {
+                    continue;
+                }
                 // Get a reference to the stream managed by the TcpClient.
                 NetworkStream stream = connection.GetStream();
                 // Quit reading if no new data is received after 30 seconds.
@@ -296,7 +296,7 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
                 int bytesRead = await stream.ReadAsync(headerBuf, cancelToken);
                 if (bytesRead == 0)
                 {
-					_logger?.LogWarning("Failed to receive TCP data.");
+                    _logger?.LogWarning("Failed to receive TCP data.");
                     return;
                 }
 
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
index c3c336b..72c6b08 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
@@ -49,7 +49,7 @@ public void Begin(CancellationToken cancelToken)
 
         // Open new UDP socket.
         _logger?.LogInformation($"Starting RoveComm UDP on port {Port}.");
-        Task.Run(async () => 
+        Task.Run(async () =>
         {
             try
             {
@@ -62,12 +62,12 @@ public void Begin(CancellationToken cancelToken)
                     await ReceiveAndCallback(cancelToken);
                     // Don't hog the async queue.
                     await Task.Delay(RoveCommConsts.UpdateRate);
-				}
-			}
+                }
+            }
             catch (Exception e)
             {
                 _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
-				_logger?.LogError(e.StackTrace);
+                _logger?.LogError(e.StackTrace);
             }
             finally
             {
@@ -130,11 +130,11 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         {
             _logger?.LogError($"Failed to send UDP packet: {e.Message}");
             return false;
-		}
-		_logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID} and Data {packet.DataType}[{packet.DataCount}] to {dest}.");
-		// int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
-		// _logger?.LogInformation($"Sent from port: {localPort}.");
-		return true;
+        }
+        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID} and Data {packet.DataType}[{packet.DataCount}] to {dest}.");
+        // int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
+        // _logger?.LogInformation($"Sent from port: {localPort}.");
+        return true;
     }
     public bool Send<T>(RoveCommPacket<T> packet, string ip) => Send(packet, ip, Port);
 
@@ -187,18 +187,18 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken)
 
         try
         {
-			// We still want to process datagrams which are too small to parse; we just discard them.
-			if (_UDPServer!.Available == 0)
-			{
-				return;
-			}
+            // We still want to process datagrams which are too small to parse; we just discard them.
+            if (_UDPServer!.Available == 0)
+            {
+                return;
+            }
 
             var result = await _UDPServer!.ReceiveAsync(cancelToken);
             IPEndPoint fromIP = result.RemoteEndPoint;
             byte[] data = result.Buffer;
-			// If there aren't enough bytes to parse the header, the error will be caught and logged.
+            // If there aren't enough bytes to parse the header, the error will be caught and logged.
             RoveCommHeader header = RoveCommUtils.ParseHeader(data);
-			RoveCommDataType dataType = RoveCommUtils.ParseDataType(header.DataType);
+            RoveCommDataType dataType = RoveCommUtils.ParseDataType(header.DataType);
             switch (dataType)
             {
                 case RoveCommDataType.INT8_T: ProcessPacket(RoveCommUtils.ParsePacket<sbyte>(data)); break;
@@ -211,10 +211,10 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken)
                 case RoveCommDataType.DOUBLE: ProcessPacket(RoveCommUtils.ParsePacket<double>(data)); break;
                 case RoveCommDataType.CHAR: ProcessPacket(RoveCommUtils.ParsePacket<char>(data)); break;
             }
-			_logger?.LogInformation($"UDP: Received RoveCommPacket with DataID {header.DataID} and Data {dataType}[{header.DataCount}] from {fromIP}.");
-		}
-		// RoveComm couldn't parse something:
-		catch (RoveCommException e)
+            _logger?.LogInformation($"UDP: Received RoveCommPacket with DataID {header.DataID} and Data {dataType}[{header.DataCount}] from {fromIP}.");
+        }
+        // RoveComm couldn't parse something:
+        catch (RoveCommException e)
         {
             _logger?.LogError($"Failed to read UDP packet: {e.Message}");
         }

From 677cc7ef364c77ba93034a378b55078b6dcfa5bd Mon Sep 17 00:00:00 2001
From: Adam Klassen <akrd3@umsystem.edu>
Date: Sun, 22 Sep 2024 18:16:17 +0000
Subject: [PATCH 09/15] fixed logger warnings

---
 .../Core/Services/RoveComm/RoveCommService.cs |  4 +-
 .../Core/Services/RoveComm/RoveCommTCP.cs     | 39 +++++++++----------
 .../Core/Services/RoveComm/RoveCommUDP.cs     | 29 +++++++-------
 3 files changed, 35 insertions(+), 37 deletions(-)

diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
index 4037267..8a440e6 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
@@ -48,7 +48,7 @@ public void On<T>(int dataId, RoveCommCallback<T> handler)
     {
         TCP.On(dataId, handler);
         UDP.On(dataId, handler);
-        _logger.LogInformation($"Subscribed to {dataId} with type {RoveCommUtils.DataTypeFromType(typeof(T))}");
+        _logger.LogInformation("Subscribed to {DataID} with type {DataType}.", dataId, RoveCommUtils.DataTypeFromType(typeof(T)));
     }
 
     /// <summary>
@@ -102,7 +102,7 @@ public void Clear<T>(int dataId, RoveCommCallback<T> handler)
     {
         UDP.Clear(dataId, handler);
         TCP.Clear(dataId, handler);
-        _logger.LogInformation($"Unsubscribed from {dataId} with type {RoveCommUtils.DataTypeFromType(typeof(T))}.");
+        _logger.LogInformation("Unsubscribed from {DataID} with type {DataType}.", dataId, RoveCommUtils.DataTypeFromType(typeof(T)));
     }
 
     /// <summary>
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
index 0897ba4..636f0a0 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
@@ -46,7 +46,7 @@ public void Begin(CancellationToken cancelToken)
             return;
         }
         // Begin listening for TCP connection requests. Allow up to 10 pending requests at once.
-        _logger?.LogInformation($"Starting RoveComm TCP on port {Port}.");
+        _logger?.LogInformation("Starting RoveComm TCP on port {Port}.", Port);
         _TCPServer = new TcpListener(IPAddress.Any, Port);
         try
         {
@@ -54,7 +54,7 @@ public void Begin(CancellationToken cancelToken)
         }
         catch (Exception e)
         {
-            _logger?.LogError($"Failed to start RoveComm TCP: {e.Message}");
+            _logger?.LogError(e, "Failed to start RoveComm TCP:");
             return;
         }
         Running = true;
@@ -69,7 +69,7 @@ public void Begin(CancellationToken cancelToken)
                     {
                         TcpClient client = await _TCPServer!.AcceptTcpClientAsync(cancelToken);
                         _connections.Add(client);
-                        _logger?.LogInformation($"Accepted connection with remote: {client.Client.RemoteEndPoint}");
+                        _logger?.LogInformation("Accepted connection from {Remote}.", client.Client.RemoteEndPoint);
                     }
                     // Read packets and trigger callbacks.
                     await ReceiveAndCallback(cancelToken);
@@ -79,8 +79,7 @@ public void Begin(CancellationToken cancelToken)
             }
             catch (Exception e)
             {
-                _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
-                _logger?.LogError(e.StackTrace);
+                _logger?.LogError(e, "An exception occurred in RoveComm UDP:");
             }
             finally
             {
@@ -115,7 +114,7 @@ public void Stop()
         }
         catch (Exception e)
         {
-            _logger?.LogError($"Something went wrong closing RoveComm TCP: {e.Message}");
+            _logger?.LogError(e, "Something went wrong closing RoveComm TCP:");
             return;
         }
         _logger?.LogInformation("Closed RoveComm TCP.");
@@ -147,7 +146,7 @@ private void _removeDisconnectedClients()
         {
             if (!connection.Connected)
             {
-                _logger?.LogInformation($"Disconnected from {connection.Client.RemoteEndPoint as IPEndPoint}.");
+                _logger?.LogInformation("Disconnected from {Remote}.", connection.Client.RemoteEndPoint as IPEndPoint);
                 return true;
             }
             else
@@ -183,14 +182,14 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         {
             try
             {
-                _logger?.LogInformation($"Attempting to establish a connection with {dest}.");
+                _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
                 client = new TcpClient(AddressFamily.InterNetwork);
                 client.Connect(dest);
-                _logger?.LogInformation($"Established connection with {client.Client.RemoteEndPoint as IPEndPoint}");
+                _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
             }
             catch (Exception e)
             {
-                _logger?.LogError($"Failed to connect to remote host: {e.Message}");
+                _logger?.LogError(e, "Failed to connect to remote host:");
                 return false;
             }
             _connections.Add(client);
@@ -202,10 +201,10 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         }
         catch (Exception e)
         {
-            _logger?.LogError($"Failed to send TCP packet: {e.Message}");
+            _logger?.LogError(e, "Failed to send TCP packet:");
             return false;
         }
-        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID} and type {packet.DataType}[{packet.DataCount}] to {dest}.");
+        _logger?.LogInformation("TCP: Sent RoveCommPacket with DataID {DataID} and type {DataType}[{DataCount}] to {Dest}.", packet.DataID, packet.DataType, packet.DataCount, dest);
         return true;
     }
     public bool Send<T>(RoveCommPacket<T> packet, string ip) => Send(packet, ip, Port);
@@ -236,13 +235,13 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
             try
             {
                 client = new TcpClient(AddressFamily.InterNetwork);
-                _logger?.LogInformation($"Attempting to establish a connection with {dest}.");
+                _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
                 await client.ConnectAsync(dest);
-                _logger?.LogInformation($"Established connection with {client.Client.RemoteEndPoint as IPEndPoint}");
+                _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
             }
             catch (Exception e)
             {
-                _logger?.LogError($"Failed to connect to remote host: {e.Message}");
+                _logger?.LogError(e, "Failed to connect to remote host:");
                 return false;
             }
             _connections.Add(client);
@@ -254,10 +253,10 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
         }
         catch (Exception e)
         {
-            _logger?.LogError($"Failed to send TCP packet: {e.Message}");
+            _logger?.LogError(e, "Failed to send TCP packet:");
             return false;
         }
-        _logger?.LogInformation($"TCP: Sent RoveCommPacket with DataID {packet.DataID} and type {packet.DataType}[{packet.DataCount}] to {dest}.");
+        _logger?.LogInformation("TCP: Sent RoveCommPacket with DataID {DataID} and Data {DataType}[{DataCount}] to {Dest}.", packet.DataID, packet.DataType, packet.DataCount, dest);
         return true;
     }
     public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, CancellationToken cancelToken = default) =>
@@ -321,17 +320,17 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
                     case RoveCommDataType.DOUBLE: ProcessPacket(RoveCommUtils.ParsePacket<double>(packetBuf.Span)); break;
                     case RoveCommDataType.CHAR: ProcessPacket(RoveCommUtils.ParsePacket<char>(packetBuf.Span)); break;
                 }
-                _logger?.LogInformation($"TCP: Received RoveCommPacket with DataID {header.DataID} and Data {dataType}[{header.DataCount}] from {connection.Client.RemoteEndPoint as IPEndPoint}.");
+                _logger?.LogInformation("TCP: Received RoveCommPacket with DataID {DataID} and Data {DataType}[{DataCount}] from {Remote}.", header.DataID, dataType, header.DataCount, connection.Client.RemoteEndPoint as IPEndPoint);
             }
             // RoveComm couldn't parse something:
             catch (RoveCommException e)
             {
-                _logger?.LogError($"Failed to read TCP packet: {e.Message}");
+                _logger?.LogError("Failed to read TCP packet: {Error}", e.Message);
             }
             // Network problems:
             catch (Exception e)
             {
-                _logger?.LogError($"Failed to receive TCP data: {e.Message}");
+                _logger?.LogError(e, "Failed to receive TCP data:");
             }
         }
     }
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
index 72c6b08..1e9ee58 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
@@ -48,7 +48,7 @@ public void Begin(CancellationToken cancelToken)
         }
 
         // Open new UDP socket.
-        _logger?.LogInformation($"Starting RoveComm UDP on port {Port}.");
+        _logger?.LogInformation("Starting RoveComm UDP on port {Port}.", Port);
         Task.Run(async () =>
         {
             try
@@ -66,8 +66,7 @@ public void Begin(CancellationToken cancelToken)
             }
             catch (Exception e)
             {
-                _logger?.LogError($"An exception occurred in RoveComm UDP: {e.Message}");
-                _logger?.LogError(e.StackTrace);
+                _logger?.LogError(e, "An exception occurred in RoveComm UDP:");
             }
             finally
             {
@@ -93,7 +92,7 @@ public void Stop()
         }
         catch (Exception e)
         {
-            _logger?.LogError($"Something went wrong closing RoveComm UDP: {e.Message}");
+            _logger?.LogError(e, "Something went wrong closing RoveComm UDP:");
             return;
         }
         _UDPServer = null;
@@ -122,18 +121,17 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
             int expected = RoveCommConsts.HeaderSize + packet.DataCount * RoveCommUtils.DataTypeSize(packet.DataType);
             if (bytesSent != expected)
             {
-                _logger?.LogError($"Failed to send UDP packet: {bytesSent} of {expected} bytes sent.");
+                _logger?.LogError("Failed to send UDP packet: {Sent} of {Expected} bytes sent.", bytesSent, expected);
                 return false;
             }
         }
         catch (Exception e)
         {
-            _logger?.LogError($"Failed to send UDP packet: {e.Message}");
+            _logger?.LogError(e, "Failed to send UDP packet:");
             return false;
         }
-        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID} and Data {packet.DataType}[{packet.DataCount}] to {dest}.");
-        // int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
-        // _logger?.LogInformation($"Sent from port: {localPort}.");
+
+        _logger?.LogInformation("UDP: Sent RoveCommPacket with DataID {DataID} and Data {DataType}[{DataCount}] to {Dest}.", packet.DataID, packet.DataType, packet.DataCount, dest);
         return true;
     }
     public bool Send<T>(RoveCommPacket<T> packet, string ip) => Send(packet, ip, Port);
@@ -160,16 +158,17 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
             int expected = RoveCommConsts.HeaderSize + packet.DataCount * RoveCommUtils.DataTypeSize(packet.DataType);
             if (bytesSent != expected)
             {
-                _logger?.LogError($"Failed to send UDP packet: {bytesSent} of {expected} bytes sent.");
+                _logger?.LogError("Failed to send UDP packet: {Sent} of {Expected} bytes sent.", bytesSent, expected);
                 return false;
             }
         }
         catch (Exception e)
         {
-            _logger?.LogError($"Failed to send UDP packet: {e.Message}");
+            _logger?.LogError(e, "Failed to send UDP packet:");
             return false;
         }
-        _logger?.LogInformation($"UDP: Sent RoveCommPacket with DataID {packet.DataID} and Data {packet.DataType}[{packet.DataCount}] to {dest}.");
+
+        _logger?.LogInformation("UDP: Sent RoveCommPacket with DataID {DataID} and Data {DataType}[{DataCount}] to {Dest}.", packet.DataID, packet.DataType, packet.DataCount, dest);
         return true;
     }
     public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, CancellationToken cancelToken = default) =>
@@ -211,17 +210,17 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken)
                 case RoveCommDataType.DOUBLE: ProcessPacket(RoveCommUtils.ParsePacket<double>(data)); break;
                 case RoveCommDataType.CHAR: ProcessPacket(RoveCommUtils.ParsePacket<char>(data)); break;
             }
-            _logger?.LogInformation($"UDP: Received RoveCommPacket with DataID {header.DataID} and Data {dataType}[{header.DataCount}] from {fromIP}.");
+            _logger?.LogInformation("UDP: Received RoveCommPacket with DataID {DataID} and Data {DataType}[{DataCount}] from {Remote}.", header.DataID, dataType, header.DataCount, fromIP);
         }
         // RoveComm couldn't parse something:
         catch (RoveCommException e)
         {
-            _logger?.LogError($"Failed to read UDP packet: {e.Message}");
+            _logger?.LogError("Failed to read UDP packet: {Error}", e.Message);
         }
         // Network problems:
         catch (Exception e)
         {
-            _logger?.LogError($"Failed to receive UDP data: {e.Message}");
+            _logger?.LogError(e, "Failed to receive UDP data:");
         }
     }
 

From 8bbdeb65111131a878ee46d165c08512e4644767 Mon Sep 17 00:00:00 2001
From: Adam Klassen <akrd3@umsystem.edu>
Date: Mon, 23 Sep 2024 04:27:44 +0000
Subject: [PATCH 10/15] fixed float encoding and added TCP timeout

---
 .../RoveComm/RoveCommUtils.cs                 |  2 +-
 .../Core/Services/RoveComm/RoveCommService.cs | 50 +++++++++++++------
 .../Core/Services/RoveComm/RoveCommTCP.cs     | 32 ++++++------
 .../Core/Services/RoveComm/RoveCommUDP.cs     | 19 ++++---
 4 files changed, 65 insertions(+), 38 deletions(-)

diff --git a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
index ed86ca3..b86859b 100644
--- a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
+++ b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
@@ -267,7 +267,7 @@ public static RoveCommPacket<T> ParsePacket<T>(ReadOnlySpan<byte> data)
                 {
                     for (int i = 0; i < header.DataCount; i++)
                     {
-                        packetData.Add(BinaryPrimitives.ReadUInt32BigEndian(dataBuf.Slice(i * 4, 4)));
+                        packetData.Add(BinaryPrimitives.ReadSingleBigEndian(dataBuf.Slice(i * 4, 4)));
                     }
 
                     break;
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
index 8a440e6..1dc32ea 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
@@ -65,17 +65,17 @@ public void On<T>(string boardName, string dataIdString, RoveCommCallback<T> han
         RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
-            throw new Exception($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
+            throw new RoveCommException($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
         }
         else if (packetDesc is null)
         {
-            throw new Exception($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
+            throw new RoveCommException($"Failed to subscribe to RoveComm: {dataIdString} not found for {boardName} Board.");
         }
 
         RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
+            throw new RoveCommException($"Failed to subscribe to RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
         }
 
         On(packetDesc.DataID, handler);
@@ -119,17 +119,17 @@ public void Clear<T>(string boardName, string dataIdString, RoveCommCallback<T>
         RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
-            throw new Exception($"Failed to unsubscribe from RoveComm: {boardName} Board not found in RoveCommManifest.");
+            throw new RoveCommException($"Failed to unsubscribe from RoveComm: {boardName} Board not found in RoveCommManifest.");
         }
         else if (packetDesc is null)
         {
-            throw new Exception($"Failed to unsubscribe from RoveComm: {dataIdString} not found for {boardName} Board.");
+            throw new RoveCommException($"Failed to unsubscribe from RoveComm: {dataIdString} not found for {boardName} Board.");
         }
 
         RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to unsubscribe from RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
+            throw new RoveCommException($"Failed to unsubscribe from RoveComm: {handlerType} does not match type of {dataIdString} ({packetDesc.DataType}).");
         }
 
         Clear(packetDesc.DataID, handler);
@@ -191,22 +191,22 @@ public bool Send<T>(string boardName, string commandName, List<T> data, bool rel
         RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
+            throw new RoveCommException($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
         }
         else if (packetDesc is null)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+            throw new RoveCommException($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
         }
 
         RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName} ({packetDesc.DataType}).");
+            throw new RoveCommException($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName} ({packetDesc.DataType}).");
         }
 
         if (data.Count != packetDesc.DataCount)
         {
-            throw new Exception($"Failed to send RoveCommPacket: incorrect data size to fill {commandName}.");
+            throw new RoveCommException($"Failed to send RoveCommPacket: incorrect data size to fill {commandName}.");
         }
 
         return Send(packetDesc.DataID, data, boardDesc.IP, reliable);
@@ -228,22 +228,22 @@ public async Task<bool> SendAsync<T>(string boardName, string commandName, List<
         RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
+            throw new RoveCommException($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
         }
         else if (packetDesc is null)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
+            throw new RoveCommException($"Failed to send RoveCommPacket: {commandName} not found for {boardName} Board.");
         }
 
         RoveCommDataType handlerType = RoveCommUtils.DataTypeFromType(typeof(T));
         if (packetDesc.DataType != handlerType)
         {
-            throw new Exception($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName} ({packetDesc.DataType}).");
+            throw new RoveCommException($"Failed to send RoveCommPacket: {handlerType} does not match type of {commandName} ({packetDesc.DataType}).");
         }
 
         if (data.Count != packetDesc.DataCount)
         {
-            throw new Exception($"Failed to send RoveCommPacket: incorrect data size to fill {commandName}.");
+            throw new RoveCommException($"Failed to send RoveCommPacket: incorrect data size to fill {commandName}.");
         }
 
         return await SendAsync(packetDesc.DataID, data, boardDesc.IP, reliable, cancelToken);
@@ -284,6 +284,28 @@ public async Task<bool> SendAsync<T>(string boardName, string commandName, List<
         }
     }
 
+    /// <summary>
+    /// Wait asynchronously until the desired packet from the Manifest arrives.
+    /// </summary>
+    /// <param name="boardName">The name of the board as shown in the Manifest.</param>
+    /// <param name="dataIdString">The name of the Telemetry or Error message as shown in the Manifest.</param>
+    /// <param name="timeout">The number of milliseconds before returning null.</param>
+    /// <returns>The payload if a packet is received within the timeout, null if none.</returns>
+    public async Task<List<T>?> Listen<T>(string boardName, string dataIdString, int timeout = 30_000)
+    {
+        RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+        if (boardDesc is null)
+        {
+            throw new RoveCommException($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
+        }
+        else if (packetDesc is null)
+        {
+            throw new RoveCommException($"Failed to send RoveCommPacket: {dataIdString} not found for {boardName} Board.");
+        }
+
+        return await Listen<T>(packetDesc.DataID, timeout);
+    }
+
     public void Subscribe(string boardName)
     {
         if (RoveCommManifest.Boards.ContainsKey(boardName))
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
index 636f0a0..d64170e 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
@@ -6,6 +6,8 @@ namespace Basestation_Software.Web.Core.Services.RoveComm;
 
 public class RoveCommTCP
 {
+    public static readonly int ConnectionTimeout = 10_000;
+
     public bool Running { get; private set; }
     public int Port { get; private set; }
     private readonly List<TcpClient> _connections = [];
@@ -180,18 +182,14 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         // If no existing connection was found, open a new one.
         if (client is null)
         {
-            try
-            {
-                _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
-                client = new TcpClient(AddressFamily.InterNetwork);
-                client.Connect(dest);
-                _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
-            }
-            catch (Exception e)
+            _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
+            client = new TcpClient(AddressFamily.InterNetwork);
+            if (!client.ConnectAsync(dest).Wait(TimeSpan.FromMilliseconds(ConnectionTimeout)))
             {
-                _logger?.LogError(e, "Failed to connect to remote host:");
+                _logger?.LogError("Failed to connect to remote host: The operation has timed out.");
                 return false;
             }
+            _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
             _connections.Add(client);
         }
         // Write the packet to the client's NetworkStream.
@@ -201,7 +199,7 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         }
         catch (Exception e)
         {
-            _logger?.LogError(e, "Failed to send TCP packet:");
+            _logger?.LogError("Failed to send TCP packet: {Error}", e.Message);
             return false;
         }
         _logger?.LogInformation("TCP: Sent RoveCommPacket with DataID {DataID} and type {DataType}[{DataCount}] to {Dest}.", packet.DataID, packet.DataType, packet.DataCount, dest);
@@ -232,18 +230,18 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
         // If no existing connection was found, open a new one.
         if (client is null)
         {
+            client = new TcpClient(AddressFamily.InterNetwork);
+            _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
             try
             {
-                client = new TcpClient(AddressFamily.InterNetwork);
-                _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
-                await client.ConnectAsync(dest);
-                _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
+                await client.ConnectAsync(dest).WaitAsync(TimeSpan.FromMilliseconds(ConnectionTimeout), cancelToken);
             }
             catch (Exception e)
             {
-                _logger?.LogError(e, "Failed to connect to remote host:");
+                _logger?.LogError("Failed to connect to remote host: {Error}", e.Message);
                 return false;
             }
+            _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
             _connections.Add(client);
         }
         // Write the packet to the client's NetworkStream.
@@ -253,7 +251,7 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
         }
         catch (Exception e)
         {
-            _logger?.LogError(e, "Failed to send TCP packet:");
+            _logger?.LogError("Failed to send TCP packet: {Error}", e.Message);
             return false;
         }
         _logger?.LogInformation("TCP: Sent RoveCommPacket with DataID {DataID} and Data {DataType}[{DataCount}] to {Dest}.", packet.DataID, packet.DataType, packet.DataCount, dest);
@@ -330,7 +328,7 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
             // Network problems:
             catch (Exception e)
             {
-                _logger?.LogError(e, "Failed to receive TCP data:");
+                _logger?.LogError("Failed to receive TCP data: {Error}", e.Message);
             }
         }
     }
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
index 1e9ee58..f2ac283 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
@@ -49,13 +49,20 @@ public void Begin(CancellationToken cancelToken)
 
         // Open new UDP socket.
         _logger?.LogInformation("Starting RoveComm UDP on port {Port}.", Port);
+        try
+        {
+            _UDPServer = new UdpClient(Port, AddressFamily.InterNetwork);
+        }
+        catch (Exception e)
+        {
+            _logger?.LogError(e, "Failed to start RoveComm UDP:");
+            return;
+        }
+        Running = true;
         Task.Run(async () =>
         {
             try
             {
-                _UDPServer = new UdpClient(Port, AddressFamily.InterNetwork);
-                // int localPort = (_UDPServer!.Client.LocalEndPoint as IPEndPoint)!.Port;
-                Running = true;
                 while (!cancelToken.IsCancellationRequested)
                 {
                     // Read packets and trigger callbacks.
@@ -127,7 +134,7 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         }
         catch (Exception e)
         {
-            _logger?.LogError(e, "Failed to send UDP packet:");
+            _logger?.LogError("Failed to send UDP packet: {Error}", e.Message);
             return false;
         }
 
@@ -164,7 +171,7 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
         }
         catch (Exception e)
         {
-            _logger?.LogError(e, "Failed to send UDP packet:");
+            _logger?.LogError("Failed to send UDP packet: {Error}", e.Message);
             return false;
         }
 
@@ -220,7 +227,7 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken)
         // Network problems:
         catch (Exception e)
         {
-            _logger?.LogError(e, "Failed to receive UDP data:");
+            _logger?.LogError("Failed to receive UDP data: {Error}", e.Message);
         }
     }
 

From c2c99af5d3f3c2693b595d46575daf99b1880b81 Mon Sep 17 00:00:00 2001
From: mjjm4d <threehalves1@gmail.com>
Date: Mon, 23 Sep 2024 00:18:46 -0500
Subject: [PATCH 11/15] EditorConfig and manual code cleanup

---
 Basestation_Software.Api/Entities/GPSWaypointRepository.cs | 2 +-
 Basestation_Software.Web/Program.cs                        | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/Basestation_Software.Api/Entities/GPSWaypointRepository.cs b/Basestation_Software.Api/Entities/GPSWaypointRepository.cs
index 7043d86..713a44f 100644
--- a/Basestation_Software.Api/Entities/GPSWaypointRepository.cs
+++ b/Basestation_Software.Api/Entities/GPSWaypointRepository.cs
@@ -28,7 +28,7 @@ public GPSWaypointRepository(REDDatabase db)
             // Make sure the ID is null.
             waypoint.ID = null;
             // Add new row to database table.
-            var result = await _REDDatabase.Waypoints.AddAsync(waypoint);
+        Microsoft.EntityFrameworkCore.ChangeTracking.EntityEntry<GPSWaypoint> result = await _REDDatabase.Waypoints.AddAsync(waypoint);
             await _REDDatabase.SaveChangesAsync();
             // Return the inserted value.
             return result.Entity;
diff --git a/Basestation_Software.Web/Program.cs b/Basestation_Software.Web/Program.cs
index 8bc2503..4e8c52f 100644
--- a/Basestation_Software.Web/Program.cs
+++ b/Basestation_Software.Web/Program.cs
@@ -4,6 +4,7 @@
 using Radzen;
 
 var builder = WebApplication.CreateBuilder(args);
+#pragma warning restore IDE0211 // Convert to 'Program.Main' style program
 
 // Add services to the container.
 builder.Services.AddRazorComponents()

From f8ac316404f5f86edd063fa9f161109cad4aeae8 Mon Sep 17 00:00:00 2001
From: mjjm4d <threehalves1@gmail.com>
Date: Mon, 23 Sep 2024 00:22:51 -0500
Subject: [PATCH 12/15] Manual code cleanup

---
 .editorconfig                                 |  59 ++-
 .../Controllers/GPSWaypointController.cs      | 172 +++++----
 .../Controllers/MapTileController.cs          | 164 ++++----
 .../Entities/GPSWaypointRepository.cs         | 169 ++++-----
 .../Entities/IGPSWaypointRepository.cs        |  21 +-
 .../Entities/IMapTileRepository.cs            |  19 +-
 .../Entities/MapTileRepository.cs             | 117 +++---
 .../Entities/REDDatabase.cs                   | 173 +++++----
 .../20240705001141_InitialDBMigration.cs      |  81 ++--
 .../Migrations/20240706231340_Maptiles.cs     | 104 +++--
 .../Geospatial/GPSWaypoint.cs                 |  25 +-
 .../Geospatial/GPSWaypointInput.cs            |  28 +-
 .../Geospatial/MapTile.cs                     |  20 +-
 .../Geospatial/WaypointType.cs                |  17 +-
 Basestation_Software.Models/Timers/ITimer.cs  |  16 +-
 .../Timers/TaskTimer.cs                       | 359 +++++++++---------
 .../Timers/TimerType.cs                       |  15 +-
 .../Core/Services/CookieService.cs            | 132 +++----
 .../Core/Services/GPSWaypointService.cs       | 201 +++++-----
 .../Core/Services/MapTileService.cs           | 147 ++++---
 .../Core/Services/TaskTimerService.cs         | 239 ++++++------
 Basestation_Software.Web/Program.cs           |   6 +-
 22 files changed, 1109 insertions(+), 1175 deletions(-)

diff --git a/.editorconfig b/.editorconfig
index 633583f..414ce27 100644
--- a/.editorconfig
+++ b/.editorconfig
@@ -8,7 +8,7 @@ root = true
 
 # Indentation and spacing
 indent_size = 4
-indent_style = tab
+indent_style = space
 tab_width = 4
 
 # New line preferences
@@ -56,13 +56,13 @@ dotnet_style_prefer_conditional_expression_over_assignment = true
 dotnet_style_prefer_conditional_expression_over_return = true
 dotnet_style_prefer_foreach_explicit_cast_in_source = when_strongly_typed
 dotnet_style_prefer_inferred_anonymous_type_member_names = true
-dotnet_style_prefer_inferred_tuple_names = true
+dotnet_style_prefer_inferred_tuple_names = true:silent
 dotnet_style_prefer_is_null_check_over_reference_equality_method = false
 dotnet_style_prefer_simplified_boolean_expressions = true
 dotnet_style_prefer_simplified_interpolation = true
 
 # Field preferences
-dotnet_style_readonly_field = true
+dotnet_style_readonly_field = false:silent
 
 # Parameter preferences
 dotnet_code_quality_unused_parameters = all
@@ -72,7 +72,7 @@ dotnet_remove_unnecessary_suppression_exclusions = none
 
 # New line preferences
 dotnet_style_allow_multiple_blank_lines_experimental = false
-dotnet_style_allow_statement_immediately_after_block_experimental = false:suggestion
+dotnet_style_allow_statement_immediately_after_block_experimental = true
 
 #### C# Coding Conventions ####
 
@@ -82,14 +82,14 @@ csharp_style_var_for_built_in_types = false:suggestion
 csharp_style_var_when_type_is_apparent = false
 
 # Expression-bodied members
-csharp_style_expression_bodied_accessors = true:silent
-csharp_style_expression_bodied_constructors = false:silent
-csharp_style_expression_bodied_indexers = true:silent
-csharp_style_expression_bodied_lambdas = true:silent
-csharp_style_expression_bodied_local_functions = false:silent
-csharp_style_expression_bodied_methods = false:silent
-csharp_style_expression_bodied_operators = false:silent
-csharp_style_expression_bodied_properties = true:silent
+csharp_style_expression_bodied_accessors = true
+csharp_style_expression_bodied_constructors = false
+csharp_style_expression_bodied_indexers = true
+csharp_style_expression_bodied_lambdas = true
+csharp_style_expression_bodied_local_functions = false
+csharp_style_expression_bodied_methods = false
+csharp_style_expression_bodied_operators = false
+csharp_style_expression_bodied_properties = true
 
 # Pattern matching preferences
 csharp_style_pattern_matching_over_as_with_null_check = true:silent
@@ -97,24 +97,24 @@ csharp_style_pattern_matching_over_is_with_cast_check = true
 csharp_style_prefer_extended_property_pattern = true
 csharp_style_prefer_not_pattern = false:silent
 csharp_style_prefer_pattern_matching = false
-csharp_style_prefer_switch_expression = true
+csharp_style_prefer_switch_expression = true:silent
 
 # Null-checking preferences
 csharp_style_conditional_delegate_call = true
 
 # Modifier preferences
-csharp_prefer_static_anonymous_function = true
-csharp_prefer_static_local_function = true
+csharp_prefer_static_anonymous_function = false:silent
+csharp_prefer_static_local_function = true:silent
 csharp_preferred_modifier_order = public,private,protected,internal,file,static,extern,new,virtual,abstract,sealed,override,readonly,unsafe,required,volatile,async
-csharp_style_prefer_readonly_struct = true
+csharp_style_prefer_readonly_struct = false:silent
 csharp_style_prefer_readonly_struct_member = true
 
 # Code-block preferences
 csharp_prefer_braces = when_multiline:suggestion
-csharp_prefer_simple_using_statement = true:suggestion
-csharp_style_namespace_declarations = block_scoped:silent
-csharp_style_prefer_method_group_conversion = true:silent
-csharp_style_prefer_primary_constructors = true:suggestion
+csharp_prefer_simple_using_statement = false
+csharp_style_namespace_declarations = file_scoped:suggestion
+csharp_style_prefer_method_group_conversion = true
+csharp_style_prefer_primary_constructors = false
 csharp_style_prefer_top_level_statements = false:warning
 
 # Expression-level preferences
@@ -201,14 +201,14 @@ dotnet_naming_rule.types_should_be_pascal_case.severity = suggestion
 dotnet_naming_rule.types_should_be_pascal_case.symbols = types
 dotnet_naming_rule.types_should_be_pascal_case.style = pascal_case
 
-dotnet_naming_rule.non_field_members_should_be_pascal_case.severity = suggestion
-dotnet_naming_rule.non_field_members_should_be_pascal_case.symbols = non_field_members
-dotnet_naming_rule.non_field_members_should_be_pascal_case.style = pascal_case
-
 dotnet_naming_rule.private_or_internal_field_should_be_camel_case__begins_with__.severity = suggestion
 dotnet_naming_rule.private_or_internal_field_should_be_camel_case__begins_with__.symbols = private_or_internal_field
 dotnet_naming_rule.private_or_internal_field_should_be_camel_case__begins_with__.style = camel_case__begins_with__
 
+dotnet_naming_rule.non_field_members_should_be_pascal_case.severity = suggestion
+dotnet_naming_rule.non_field_members_should_be_pascal_case.symbols = non_field_members
+dotnet_naming_rule.non_field_members_should_be_pascal_case.style = pascal_case
+
 # Symbol specifications
 
 dotnet_naming_symbols.interface.applicable_kinds = interface
@@ -243,14 +243,3 @@ dotnet_naming_style.camel_case__begins_with__.required_prefix = _
 dotnet_naming_style.camel_case__begins_with__.required_suffix = 
 dotnet_naming_style.camel_case__begins_with__.word_separator = 
 dotnet_naming_style.camel_case__begins_with__.capitalization = camel_case
-
-[*.{cs,vb}]
-dotnet_style_operator_placement_when_wrapping = beginning_of_line
-tab_width = 4
-indent_size = 4
-end_of_line = crlf
-dotnet_style_coalesce_expression = true:suggestion
-dotnet_style_null_propagation = true:suggestion
-dotnet_style_prefer_is_null_check_over_reference_equality_method = false:suggestion
-dotnet_style_prefer_auto_properties = true:silent
-dotnet_style_object_initializer = true:suggestion
\ No newline at end of file
diff --git a/Basestation_Software.Api/Controllers/GPSWaypointController.cs b/Basestation_Software.Api/Controllers/GPSWaypointController.cs
index 0b9779d..84e35f6 100644
--- a/Basestation_Software.Api/Controllers/GPSWaypointController.cs
+++ b/Basestation_Software.Api/Controllers/GPSWaypointController.cs
@@ -1,111 +1,109 @@
 using Basestation_Software.Api.Entities;
 using Basestation_Software.Models.Geospatial;
-using Microsoft.AspNetCore.Http;
 using Microsoft.AspNetCore.Mvc;
 
-namespace Basestation_Software.Api.Controllers
+namespace Basestation_Software.Api.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+public class GPSWaypointController : ControllerBase
 {
-    [Route("api/[controller]")]
-    [ApiController]
-    public class GPSWaypointController : ControllerBase
+    // Declare member variables.
+    private readonly IGPSWaypointRepository _GPSWaypointRepository;
+
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="GPSWaypointRepository">Implicitly passed in.</param>
+    public GPSWaypointController(IGPSWaypointRepository GPSWaypointRepository)
     {
-        // Declare member variables.
-        private readonly IGPSWaypointRepository _GPSWaypointRepository;
+        _GPSWaypointRepository = GPSWaypointRepository;
+    }
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="GPSWaypointRepository">Implicitly passed in.</param>
-        public GPSWaypointController(IGPSWaypointRepository GPSWaypointRepository)
+    /// <summary>
+    /// IN-Code API Endpoint for adding a waypoint to the DB.
+    /// </summary>
+    /// <param name="waypoint">The waypoint object.</param>
+    /// <returns>The API response object.</returns>
+    [HttpPut]
+    public async Task<IActionResult> AddGPSWaypoint(GPSWaypoint waypoint)
+    {
+        GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.AddGPSWaypoint(waypoint);
+        if (dbWaypoint is not null)
         {
-            _GPSWaypointRepository = GPSWaypointRepository;
+            return Ok();
         }
-
-        /// <summary>
-        /// IN-Code API Endpoint for adding a waypoint to the DB.
-        /// </summary>
-        /// <param name="waypoint">The waypoint object.</param>
-        /// <returns>The API response object.</returns>
-        [HttpPut]
-        public async Task<IActionResult> AddGPSWaypoint(GPSWaypoint waypoint)
+        else
         {
-            GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.AddGPSWaypoint(waypoint);
-            if (dbWaypoint is not null)
-            {
-                return Ok();
-            }
-            else
-            {
-                return BadRequest();
-            }
+            return BadRequest();
         }
+    }
 
-        /// <summary>
-        /// IN-Code API Endpoint for removing a waypoint from the DB.
-        /// </summary>
-        /// <param name="waypointID">The waypoint ID.</param>
-        /// <returns>The API response object.</returns>
-        [HttpDelete("{waypointID}")]
-        public async Task<IActionResult> DeleteGPSWaypoint(int waypointID)
+    /// <summary>
+    /// IN-Code API Endpoint for removing a waypoint from the DB.
+    /// </summary>
+    /// <param name="waypointID">The waypoint ID.</param>
+    /// <returns>The API response object.</returns>
+    [HttpDelete("{waypointID}")]
+    public async Task<IActionResult> DeleteGPSWaypoint(int waypointID)
+    {
+        GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.DeleteGPSWaypoint(waypointID);
+        if (dbWaypoint is not null)
         {
-            GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.DeleteGPSWaypoint(waypointID);
-            if (dbWaypoint is not null)
-            {
-                return Ok();
-            }
-            else
-            {
-                return NotFound();
-            }
+            return Ok();
         }
-
-        /// <summary>
-        /// IN-Code API Endpoint for getting a waypoint to the DB.
-        /// </summary>
-        /// <param name="waypointID">The waypoint id.</param>
-        /// <returns>The API response object.</returns>
-        [HttpGet("{waypointID}")]
-        public async Task<IActionResult> GetGPSWaypoint(int waypointID)
+        else
         {
-            GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.GetGPSWaypoint(waypointID);
-            if (dbWaypoint is not null)
-            {
-                return Ok(dbWaypoint);
-            }
-            else
-            {
-                return NotFound();
-            }
+            return NotFound();
         }
+    }
 
-        /// <summary>
-        /// IN-Code API Endpoint for getting all waypoints from the DB.
-        /// </summary>
-        /// <returns>The API response object.</returns>
-        [HttpGet]
-        public async Task<IActionResult> GetAllGPSWaypoints()
+    /// <summary>
+    /// IN-Code API Endpoint for getting a waypoint to the DB.
+    /// </summary>
+    /// <param name="waypointID">The waypoint id.</param>
+    /// <returns>The API response object.</returns>
+    [HttpGet("{waypointID}")]
+    public async Task<IActionResult> GetGPSWaypoint(int waypointID)
+    {
+        GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.GetGPSWaypoint(waypointID);
+        if (dbWaypoint is not null)
         {
-            return Ok(await _GPSWaypointRepository.GetAllGPSWaypoints());
+            return Ok(dbWaypoint);
         }
-
-        /// <summary>
-        /// IN-Code API Endpoint for updating a waypoint to the DB.
-        /// </summary>
-        /// <param name="waypoint">The waypoint object.</param>
-        /// <returns>The API response object.</returns>
-        [HttpPost]
-        public async Task<IActionResult> UpdateGPSWaypoint(GPSWaypoint waypoint)
+        else
         {
-            GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.UpdateGPSWaypoint(waypoint);
-            if (dbWaypoint is not null)
-            {
-                return Ok(dbWaypoint);
-            }
-            else
-            {
-                return NotFound();
-            }
+            return NotFound();
         }
+    }
 
+    /// <summary>
+    /// IN-Code API Endpoint for getting all waypoints from the DB.
+    /// </summary>
+    /// <returns>The API response object.</returns>
+    [HttpGet]
+    public async Task<IActionResult> GetAllGPSWaypoints()
+    {
+        return Ok(await _GPSWaypointRepository.GetAllGPSWaypoints());
+    }
+
+    /// <summary>
+    /// IN-Code API Endpoint for updating a waypoint to the DB.
+    /// </summary>
+    /// <param name="waypoint">The waypoint object.</param>
+    /// <returns>The API response object.</returns>
+    [HttpPost]
+    public async Task<IActionResult> UpdateGPSWaypoint(GPSWaypoint waypoint)
+    {
+        GPSWaypoint? dbWaypoint = await _GPSWaypointRepository.UpdateGPSWaypoint(waypoint);
+        if (dbWaypoint is not null)
+        {
+            return Ok(dbWaypoint);
+        }
+        else
+        {
+            return NotFound();
+        }
     }
+
 }
diff --git a/Basestation_Software.Api/Controllers/MapTileController.cs b/Basestation_Software.Api/Controllers/MapTileController.cs
index f85ef81..dfbb1f7 100644
--- a/Basestation_Software.Api/Controllers/MapTileController.cs
+++ b/Basestation_Software.Api/Controllers/MapTileController.cs
@@ -1,111 +1,109 @@
 using Basestation_Software.Api.Entities;
 using Basestation_Software.Models.Geospatial;
-using Microsoft.AspNetCore.Http;
 using Microsoft.AspNetCore.Mvc;
 
-namespace Basestation_Software.Api.Controllers
+namespace Basestation_Software.Api.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+public class MapTilesController : ControllerBase
 {
-    [Route("api/[controller]")]
-    [ApiController]
-    public class MapTilesController : ControllerBase
+    // Declare member variables.
+    private readonly IMapTileRepository _TileRepository;
+
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="tileRepository"></param>
+    public MapTilesController(IMapTileRepository tileRepository)
     {
-        // Declare member variables.
-        private readonly IMapTileRepository _TileRepository;
+        _TileRepository = tileRepository;
+    }
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="tileRepository"></param>
-        public MapTilesController(IMapTileRepository tileRepository)
+    [HttpPut]
+    public async Task<IActionResult> AddMapTile(MapTile tile)
+    {
+        MapTile? dbTile = await _TileRepository.AddMapTile(tile);
+        if (dbTile is not null)
         {
-            _TileRepository = tileRepository;
+            return Ok();
         }
-
-        [HttpPut]
-        public async Task<IActionResult> AddMapTile(MapTile tile)
+        else
         {
-            MapTile? dbTile = await _TileRepository.AddMapTile(tile);
-            if (dbTile is not null)
-            {
-                return Ok();
-            }
-            else
-            {
-                return BadRequest();
-            }
+            return BadRequest();
         }
+    }
 
-        [HttpPost]
-        public async Task<IActionResult> UpdateMapTile(MapTile tile)
+    [HttpPost]
+    public async Task<IActionResult> UpdateMapTile(MapTile tile)
+    {
+        MapTile? dbTile = await _TileRepository.UpdateMapTile(tile);
+        if (dbTile is not null)
         {
-            MapTile? dbTile = await _TileRepository.UpdateMapTile(tile);
-            if (dbTile is not null)
-            {
-                return Ok(dbTile);
-            }
-            else
-            {
-                return NotFound();
-            }
+            return Ok(dbTile);
         }
-
-        [HttpDelete("{tileID}")]
-        public async Task<IActionResult> DeleteMapTile(int tileID)
+        else
         {
-            MapTile? dbTile = await _TileRepository.DeleteMapTile(tileID);
-            if (dbTile is not null)
-            {
-                return Ok();
-            }
-            else
-            {
-                return NotFound();
-            }
+            return NotFound();
         }
+    }
 
-        [HttpDelete("{z}/{y}/{x}")]
-        public async Task<IActionResult> DeleteMapTile(int z, int y, int x)
+    [HttpDelete("{tileID}")]
+    public async Task<IActionResult> DeleteMapTile(int tileID)
+    {
+        MapTile? dbTile = await _TileRepository.DeleteMapTile(tileID);
+        if (dbTile is not null)
         {
-            MapTile? tileToDelete = await _TileRepository.GetMapTile(x, y, z);    
-            MapTile? dbTile = await _TileRepository.DeleteMapTile(tileToDelete?.ID ?? -1);
-            if (dbTile is not null)
-            {
-                return Ok();
-            }
-            else
-            {
-                return NotFound();
-            }
+            return Ok();
         }
-
-        [HttpGet("{z}/{y}/{x}.png")]
-        public async Task<IActionResult> GetMapTileImage(int z, int y, int x)
+        else
         {
-            MapTile? dbTile = await _TileRepository.GetMapTile(x, y, z);
-            if (dbTile is not null && dbTile.ImageData is not null)
-            {
-                return File(dbTile.ImageData, "image/png");
-            }
-            else
-            {
-                return NotFound();
-            }
+            return NotFound();
+        }
+    }
 
+    [HttpDelete("{z}/{y}/{x}")]
+    public async Task<IActionResult> DeleteMapTile(int z, int y, int x)
+    {
+        MapTile? tileToDelete = await _TileRepository.GetMapTile(x, y, z);
+        MapTile? dbTile = await _TileRepository.DeleteMapTile(tileToDelete?.ID ?? -1);
+        if (dbTile is not null)
+        {
+            return Ok();
         }
+        else
+        {
+            return NotFound();
+        }
+    }
 
-        [HttpGet("{z}/{y}/{x}")]
-        public async Task<IActionResult> GetMapTile(int z, int y, int x)
+    [HttpGet("{z}/{y}/{x}.png")]
+    public async Task<IActionResult> GetMapTileImage(int z, int y, int x)
+    {
+        MapTile? dbTile = await _TileRepository.GetMapTile(x, y, z);
+        if (dbTile is not null && dbTile.ImageData is not null)
         {
-            MapTile? dbTile = await _TileRepository.GetMapTile(x, y, z);
-            if (dbTile is not null)
-            {
-                return Ok(dbTile);
-            }
-            else
-            {
-                return NotFound();
-            }
+            return File(dbTile.ImageData, "image/png");
+        }
+        else
+        {
+            return NotFound();
+        }
 
+    }
+
+    [HttpGet("{z}/{y}/{x}")]
+    public async Task<IActionResult> GetMapTile(int z, int y, int x)
+    {
+        MapTile? dbTile = await _TileRepository.GetMapTile(x, y, z);
+        if (dbTile is not null)
+        {
+            return Ok(dbTile);
         }
+        else
+        {
+            return NotFound();
+        }
+
     }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Api/Entities/GPSWaypointRepository.cs b/Basestation_Software.Api/Entities/GPSWaypointRepository.cs
index 713a44f..1931cb0 100644
--- a/Basestation_Software.Api/Entities/GPSWaypointRepository.cs
+++ b/Basestation_Software.Api/Entities/GPSWaypointRepository.cs
@@ -1,109 +1,108 @@
-using System.Reflection;
 using Basestation_Software.Models.Geospatial;
 using Microsoft.EntityFrameworkCore;
+using System.Reflection;
 
-namespace Basestation_Software.Api.Entities
+namespace Basestation_Software.Api.Entities;
+
+public class GPSWaypointRepository : IGPSWaypointRepository
 {
-    public class GPSWaypointRepository : IGPSWaypointRepository
+    // Declare member variables.
+    private readonly REDDatabase _REDDatabase;
+
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="db">Implicitly passed in.</param>
+    public GPSWaypointRepository(REDDatabase db)
     {
-        // Declare member variables.
-        private readonly REDDatabase _REDDatabase;
+        _REDDatabase = db;
+    }
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="db">Implicitly passed in.</param>
-        public GPSWaypointRepository(REDDatabase db)
-        {
-            _REDDatabase = db;
-        }
+    /// <summary>
+    /// Add a GPS waypoint to the database.
+    /// </summary>
+    /// <param name="waypoint">The new GPS waypoint.</param>
+    /// <returns>The object stored in the DB.</returns>
+    public async Task<GPSWaypoint?> AddGPSWaypoint(GPSWaypoint waypoint)
+    {
+        // Make sure the ID is null.
+        waypoint.ID = null;
+        // Add new row to database table.
+        var result = await _REDDatabase.Waypoints.AddAsync(waypoint);
+        await _REDDatabase.SaveChangesAsync();
+        // Return the inserted value.
+        return result.Entity;
+    }
 
-        /// <summary>
-        /// Add a GPS waypoint to the database.
-        /// </summary>
-        /// <param name="waypoint">The new GPS waypoint.</param>
-        /// <returns>The object stored in the DB.</returns>
-        public async Task<GPSWaypoint?> AddGPSWaypoint(GPSWaypoint waypoint)
+    /// <summary>
+    /// Remove a GPS waypoint from the database.
+    /// </summary>
+    /// <param name="waypoint">The ID of the waypoint to remove.</param>
+    public async Task<GPSWaypoint?> DeleteGPSWaypoint(int waypointID)
+    {
+        // Find the first waypoint with the same ID.
+        GPSWaypoint? result = await _REDDatabase.Waypoints.FirstOrDefaultAsync(x => x.ID == waypointID);
+        // Check if it was found.
+        if (result is not null)
         {
-            // Make sure the ID is null.
-            waypoint.ID = null;
-            // Add new row to database table.
-        Microsoft.EntityFrameworkCore.ChangeTracking.EntityEntry<GPSWaypoint> result = await _REDDatabase.Waypoints.AddAsync(waypoint);
+            // Remove the row from the database.
+            _REDDatabase.Waypoints.Remove(result);
             await _REDDatabase.SaveChangesAsync();
-            // Return the inserted value.
-            return result.Entity;
         }
+        return result;
+    }
 
-        /// <summary>
-        /// Remove a GPS waypoint from the database.
-        /// </summary>
-        /// <param name="waypoint">The ID of the waypoint to remove.</param>
-        public async Task<GPSWaypoint?> DeleteGPSWaypoint(int waypointID)
-        {
-            // Find the first waypoint with the same ID.
-            GPSWaypoint? result = await _REDDatabase.Waypoints.FirstOrDefaultAsync(x => x.ID == waypointID);
-            // Check if it was found.
-            if (result is not null)
-            {
-                // Remove the row from the database.
-                _REDDatabase.Waypoints.Remove(result);
-                await _REDDatabase.SaveChangesAsync();
-            }
-            return result;
-        }
+    /// <summary>
+    /// Get all GPS waypoints in the DB.
+    /// </summary>
+    /// <returns>A list of GPSWaypoint objects.</returns>
+    public async Task<List<GPSWaypoint>> GetAllGPSWaypoints()
+    {
+        return await _REDDatabase.Waypoints.ToListAsync();
+    }
 
-        /// <summary>
-        /// Get all GPS waypoints in the DB.
-        /// </summary>
-        /// <returns>A list of GPSWaypoint objects.</returns>
-        public async Task<List<GPSWaypoint>> GetAllGPSWaypoints()
-        {
-            return await _REDDatabase.Waypoints.ToListAsync();
-        }
+    /// <summary>
+    /// Get a waypoint from the DB.
+    /// </summary>
+    /// <param name="waypointID">The ID of the waypoint to return.</param>
+    /// <returns>A GPSWaypoint object, null if not found.</returns>
+    public async Task<GPSWaypoint?> GetGPSWaypoint(int waypointID)
+    {
+        return await _REDDatabase.Waypoints.FirstOrDefaultAsync(x => x.ID == waypointID);
+    }
 
-        /// <summary>
-        /// Get a waypoint from the DB.
-        /// </summary>
-        /// <param name="waypointID">The ID of the waypoint to return.</param>
-        /// <returns>A GPSWaypoint object, null if not found.</returns>
-        public async Task<GPSWaypoint?> GetGPSWaypoint(int waypointID)
+    /// <summary>
+    /// Update the data for a GPSWaypoint in the DB.
+    /// </summary>
+    /// <param name="waypoint">A GPSWaypoint object containing the new data.</param>
+    /// <returns>The object stored in the database.</returns>
+    public async Task<GPSWaypoint?> UpdateGPSWaypoint(GPSWaypoint waypoint)
+    {
+        // Find the waypoint object to update in the DB.
+        GPSWaypoint? result = await _REDDatabase.Waypoints.FirstOrDefaultAsync(x => x.ID == waypoint.ID);
+        // Check if we found it.
+        if (result is not null)
         {
-            return await _REDDatabase.Waypoints.FirstOrDefaultAsync(x => x.ID == waypointID);
-        }
+            // Get the type of the GPSWaypoint class
+            Type type = typeof(GPSWaypoint);
 
-        /// <summary>
-        /// Update the data for a GPSWaypoint in the DB.
-        /// </summary>
-        /// <param name="waypoint">A GPSWaypoint object containing the new data.</param>
-        /// <returns>The object stored in the database.</returns>
-        public async Task<GPSWaypoint?> UpdateGPSWaypoint(GPSWaypoint waypoint)
-        {
-            // Find the waypoint object to update in the DB.
-            GPSWaypoint? result = await _REDDatabase.Waypoints.FirstOrDefaultAsync(x => x.ID == waypoint.ID);
-            // Check if we found it.
-            if (result is not null)
+            // Iterate over all properties of the GPSWaypoint class
+            foreach (PropertyInfo property in type.GetProperties())
             {
-                // Get the type of the GPSWaypoint class
-                Type type = typeof(GPSWaypoint);
+                // Get the value of the property from the incoming waypoint object
+                object? newValue = property.GetValue(waypoint);
 
-                // Iterate over all properties of the GPSWaypoint class
-                foreach (PropertyInfo property in type.GetProperties())
+                // If the new value is not null, update the property in the result object
+                if (newValue != null)
                 {
-                    // Get the value of the property from the incoming waypoint object
-                    object? newValue = property.GetValue(waypoint);
-
-                    // If the new value is not null, update the property in the result object
-                    if (newValue != null)
-                    {
-                        property.SetValue(result, newValue);
-                    }
+                    property.SetValue(result, newValue);
                 }
-
-                // Save changes to DB.
-                await _REDDatabase.SaveChangesAsync();
             }
 
-            return result;
+            // Save changes to DB.
+            await _REDDatabase.SaveChangesAsync();
         }
+
+        return result;
     }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Api/Entities/IGPSWaypointRepository.cs b/Basestation_Software.Api/Entities/IGPSWaypointRepository.cs
index f5ec80d..191b2d3 100644
--- a/Basestation_Software.Api/Entities/IGPSWaypointRepository.cs
+++ b/Basestation_Software.Api/Entities/IGPSWaypointRepository.cs
@@ -1,17 +1,12 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
 using Basestation_Software.Models.Geospatial;
 
-namespace Basestation_Software.Api.Entities
+namespace Basestation_Software.Api.Entities;
+
+public interface IGPSWaypointRepository
 {
-    public interface IGPSWaypointRepository
-    {
-        Task<GPSWaypoint?> AddGPSWaypoint(GPSWaypoint waypoint);
-        Task<GPSWaypoint?> DeleteGPSWaypoint(int waypointID);
-        Task<List<GPSWaypoint>> GetAllGPSWaypoints();
-        Task<GPSWaypoint?> GetGPSWaypoint(int waypointID);
-        Task<GPSWaypoint?> UpdateGPSWaypoint(GPSWaypoint waypoint);
-    }
+    Task<GPSWaypoint?> AddGPSWaypoint(GPSWaypoint waypoint);
+    Task<GPSWaypoint?> DeleteGPSWaypoint(int waypointID);
+    Task<List<GPSWaypoint>> GetAllGPSWaypoints();
+    Task<GPSWaypoint?> GetGPSWaypoint(int waypointID);
+    Task<GPSWaypoint?> UpdateGPSWaypoint(GPSWaypoint waypoint);
 }
\ No newline at end of file
diff --git a/Basestation_Software.Api/Entities/IMapTileRepository.cs b/Basestation_Software.Api/Entities/IMapTileRepository.cs
index a537ec1..d667e9c 100644
--- a/Basestation_Software.Api/Entities/IMapTileRepository.cs
+++ b/Basestation_Software.Api/Entities/IMapTileRepository.cs
@@ -1,16 +1,11 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
 using Basestation_Software.Models.Geospatial;
 
-namespace Basestation_Software.Api.Entities
+namespace Basestation_Software.Api.Entities;
+
+public interface IMapTileRepository
 {
-    public interface IMapTileRepository
-    {
-        Task<MapTile?> AddMapTile(MapTile tile);
-        Task<MapTile?> UpdateMapTile(MapTile tile);
-        Task<MapTile?> GetMapTile(int x, int y, int z);
-        Task<MapTile?> DeleteMapTile(int tileID);
-    }
+    Task<MapTile?> AddMapTile(MapTile tile);
+    Task<MapTile?> UpdateMapTile(MapTile tile);
+    Task<MapTile?> GetMapTile(int x, int y, int z);
+    Task<MapTile?> DeleteMapTile(int tileID);
 }
\ No newline at end of file
diff --git a/Basestation_Software.Api/Entities/MapTileRepository.cs b/Basestation_Software.Api/Entities/MapTileRepository.cs
index f099a71..e8ed511 100644
--- a/Basestation_Software.Api/Entities/MapTileRepository.cs
+++ b/Basestation_Software.Api/Entities/MapTileRepository.cs
@@ -1,81 +1,80 @@
-using System.Reflection;
 using Basestation_Software.Models.Geospatial;
 using Microsoft.EntityFrameworkCore;
+using System.Reflection;
 
-namespace Basestation_Software.Api.Entities
+namespace Basestation_Software.Api.Entities;
+
+public class MapTileRepository : IMapTileRepository
 {
-    public class MapTileRepository : IMapTileRepository
+    // Declare member variables.
+    private readonly REDDatabase _REDDatabase;
+
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="db"></param>
+    public MapTileRepository(REDDatabase db)
     {
-        // Declare member variables.
-        private readonly REDDatabase _REDDatabase;
+        _REDDatabase = db;
+    }
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="db"></param>
-        public MapTileRepository(REDDatabase db)
-        {
-            _REDDatabase = db;
-        }
+    public async Task<MapTile?> AddMapTile(MapTile tile)
+    {
+        // Make sure the ID is null.
+        tile.ID = null;
+        // Add a new tile to the database.
+        var result = await _REDDatabase.MapTiles.AddAsync(tile);
+        await _REDDatabase.SaveChangesAsync();
+        // Return the inserted value.
+        return result.Entity;
+    }
 
-        public async Task<MapTile?> AddMapTile(MapTile tile)
+    public async Task<MapTile?> UpdateMapTile(MapTile tile)
+    {
+        // Find the tile object to update in the DB.
+        MapTile? result = await _REDDatabase.MapTiles.FirstOrDefaultAsync(x => x.ID == tile.ID);
+        // Check if we found it.
+        if (result is not null)
         {
-            // Make sure the ID is null.
-            tile.ID = null;
-            // Add a new tile to the database.
-            var result = await _REDDatabase.MapTiles.AddAsync(tile);
-            await _REDDatabase.SaveChangesAsync();
-            // Return the inserted value.
-            return result.Entity;
-        }
+            // Get the type of the GPStile class
+            Type type = typeof(MapTile);
 
-        public async Task<MapTile?> UpdateMapTile(MapTile tile)
-        {
-            // Find the tile object to update in the DB.
-            MapTile? result = await _REDDatabase.MapTiles.FirstOrDefaultAsync(x => x.ID == tile.ID);
-            // Check if we found it.
-            if (result is not null)
+            // Iterate over all properties of the GPStile class
+            foreach (PropertyInfo property in type.GetProperties())
             {
-                // Get the type of the GPStile class
-                Type type = typeof(MapTile);
+                // Get the value of the property from the incoming tile object
+                object? newValue = property.GetValue(tile);
 
-                // Iterate over all properties of the GPStile class
-                foreach (PropertyInfo property in type.GetProperties())
+                // If the new value is not null, update the property in the result object
+                if (newValue != null)
                 {
-                    // Get the value of the property from the incoming tile object
-                    object? newValue = property.GetValue(tile);
-
-                    // If the new value is not null, update the property in the result object
-                    if (newValue != null)
-                    {
-                        property.SetValue(result, newValue);
-                    }
+                    property.SetValue(result, newValue);
                 }
-
-                // Save changes to DB.
-                await _REDDatabase.SaveChangesAsync();
             }
 
-            return result;
+            // Save changes to DB.
+            await _REDDatabase.SaveChangesAsync();
         }
 
-        public async Task<MapTile?> DeleteMapTile(int tileID)
-        {
-            // Find the first tile with the same ID.
-            MapTile? result = await _REDDatabase.MapTiles.FirstOrDefaultAsync(x => x.ID == tileID);
-            // Check if it was found.
-            if (result is not null)
-            {
-                // Remove from the db.
-                _REDDatabase.MapTiles.Remove(result);
-                await _REDDatabase.SaveChangesAsync();
-            }
-            return result;
-        }
+        return result;
+    }
 
-        public async Task<MapTile?> GetMapTile(int x, int y, int z)
+    public async Task<MapTile?> DeleteMapTile(int tileID)
+    {
+        // Find the first tile with the same ID.
+        MapTile? result = await _REDDatabase.MapTiles.FirstOrDefaultAsync(x => x.ID == tileID);
+        // Check if it was found.
+        if (result is not null)
         {
-            return await _REDDatabase.MapTiles.FirstOrDefaultAsync(tile => tile.X == x && tile.Y == y && tile.Z == z);
+            // Remove from the db.
+            _REDDatabase.MapTiles.Remove(result);
+            await _REDDatabase.SaveChangesAsync();
         }
+        return result;
+    }
+
+    public async Task<MapTile?> GetMapTile(int x, int y, int z)
+    {
+        return await _REDDatabase.MapTiles.FirstOrDefaultAsync(tile => tile.X == x && tile.Y == y && tile.Z == z);
     }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Api/Entities/REDDatabase.cs b/Basestation_Software.Api/Entities/REDDatabase.cs
index 09fd5ee..84b5392 100644
--- a/Basestation_Software.Api/Entities/REDDatabase.cs
+++ b/Basestation_Software.Api/Entities/REDDatabase.cs
@@ -2,99 +2,98 @@
 using Microsoft.EntityFrameworkCore;
 using Microsoft.EntityFrameworkCore.Metadata.Builders;
 
-namespace Basestation_Software.Api.Entities
+namespace Basestation_Software.Api.Entities;
+
+public class REDDatabase : DbContext
 {
-    public class REDDatabase : DbContext
-    {
-        private readonly IConfiguration Configuration;
+    private readonly IConfiguration Configuration;
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="configuration">The configuration that contains the DB connection string and params. (Implicitly passed in)</param>
-        public REDDatabase(IConfiguration configuration)
-        {
-            // Assign member variables.
-            Configuration = configuration;
-        }
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="configuration">The configuration that contains the DB connection string and params. (Implicitly passed in)</param>
+    public REDDatabase(IConfiguration configuration)
+    {
+        // Assign member variables.
+        Configuration = configuration;
+    }
 
-        /// <summary>
-        /// This is used by the Entity Framework Core to configure the database context.
-        /// </summary>
-        /// <param name="optionsBuilder"></param>
-        protected override void OnConfiguring(DbContextOptionsBuilder optionsBuilder)
-        {
-            optionsBuilder.UseSqlite(Configuration.GetConnectionString("RED_DB"));
-        }
+    /// <summary>
+    /// This is used by the Entity Framework Core to configure the database context.
+    /// </summary>
+    /// <param name="optionsBuilder"></param>
+    protected override void OnConfiguring(DbContextOptionsBuilder optionsBuilder)
+    {
+        optionsBuilder.UseSqlite(Configuration.GetConnectionString("RED_DB"));
+    }
 
-        /// <summary>
-        /// This is used by the Entity Framework Core and represents a collection of 
-        /// entities in a context. In this case is corresponds to a database table.
-        /// </summary>
-        /// <value></value>
-        public DbSet<GPSWaypoint> Waypoints { get; set; }
-        public DbSet<MapTile> MapTiles { get; set; }
+    /// <summary>
+    /// This is used by the Entity Framework Core and represents a collection of 
+    /// entities in a context. In this case is corresponds to a database table.
+    /// </summary>
+    /// <value></value>
+    public DbSet<GPSWaypoint> Waypoints { get; set; }
+    public DbSet<MapTile> MapTiles { get; set; }
 
-        /// <summary>
-        /// Configure the primary key for the Waypoints table.
-        /// </summary>
-        /// <param name="modelBuilder"></param>
-        public void Configure(EntityTypeBuilder<GPSWaypoint> modelBuilder)
-        {
-            modelBuilder.HasKey(x => x.ID);
-            modelBuilder.Property(x => x.ID)
-                .HasColumnName(@"ID")
-                //.HasColumnType("int") Weirdly this was upsetting SQLite
-                .IsRequired()
-                .ValueGeneratedOnAdd()
-                ;
-        }
-        public void Configure(EntityTypeBuilder<MapTile> modelBuilder)
-        {
-            modelBuilder.HasKey(x => x.ID);
-            modelBuilder.Property(x => x.ID)
-                .HasColumnName(@"ID")
-                //.HasColumnType("int") Weirdly this was upsetting SQLite
-                .IsRequired()
-                .ValueGeneratedOnAdd()
-                ;
-        }
+    /// <summary>
+    /// Configure the primary key for the Waypoints table.
+    /// </summary>
+    /// <param name="modelBuilder"></param>
+    public void Configure(EntityTypeBuilder<GPSWaypoint> modelBuilder)
+    {
+        modelBuilder.HasKey(x => x.ID);
+        modelBuilder.Property(x => x.ID)
+            .HasColumnName(@"ID")
+            //.HasColumnType("int") Weirdly this was upsetting SQLite
+            .IsRequired()
+            .ValueGeneratedOnAdd()
+            ;
+    }
+    public void Configure(EntityTypeBuilder<MapTile> modelBuilder)
+    {
+        modelBuilder.HasKey(x => x.ID);
+        modelBuilder.Property(x => x.ID)
+            .HasColumnName(@"ID")
+            //.HasColumnType("int") Weirdly this was upsetting SQLite
+            .IsRequired()
+            .ValueGeneratedOnAdd()
+            ;
+    }
 
-        protected override void OnModelCreating(ModelBuilder modelBuilder)
-        {
-            base.OnModelCreating(modelBuilder);
+    protected override void OnModelCreating(ModelBuilder modelBuilder)
+    {
+        base.OnModelCreating(modelBuilder);
 
-            /*
-                Add some default GPS waypoints to the Waypoint database table.
-            */
-            // SDELC
-            modelBuilder.Entity<GPSWaypoint>().HasData(
-                new GPSWaypoint
-                {
-                    ID = 1,
-                    Name = "MDRS",
-                    Latitude = 38.405879,
-                    Longitude = -110.792207,
-                    Altitude = 1280.0,
-                    WaypointColor = System.Drawing.Color.Green.ToArgb(),
-                    SearchRadius = 5.0,
-                    Type = WaypointType.Navigation
-                }
-            );
-            // MDRS
-            modelBuilder.Entity<GPSWaypoint>().HasData(
-                new GPSWaypoint
-                {
-                    ID = 2,
-                    Name = "SDELC",
-                    Latitude = 37.951764,
-                    Longitude = -91.778441,
-                    Altitude = 315.0,
-                    WaypointColor = System.Drawing.Color.Red.ToArgb(),
-                    SearchRadius = 5.0,
-                    Type = WaypointType.Navigation
-                }
-            );
-        }
+        /*
+            Add some default GPS waypoints to the Waypoint database table.
+        */
+        // SDELC
+        modelBuilder.Entity<GPSWaypoint>().HasData(
+            new GPSWaypoint
+            {
+                ID = 1,
+                Name = "MDRS",
+                Latitude = 38.405879,
+                Longitude = -110.792207,
+                Altitude = 1280.0,
+                WaypointColor = System.Drawing.Color.Green.ToArgb(),
+                SearchRadius = 5.0,
+                Type = WaypointType.Navigation
+            }
+        );
+        // MDRS
+        modelBuilder.Entity<GPSWaypoint>().HasData(
+            new GPSWaypoint
+            {
+                ID = 2,
+                Name = "SDELC",
+                Latitude = 37.951764,
+                Longitude = -91.778441,
+                Altitude = 315.0,
+                WaypointColor = System.Drawing.Color.Red.ToArgb(),
+                SearchRadius = 5.0,
+                Type = WaypointType.Navigation
+            }
+        );
     }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Api/Migrations/20240705001141_InitialDBMigration.cs b/Basestation_Software.Api/Migrations/20240705001141_InitialDBMigration.cs
index d86439e..d311811 100644
--- a/Basestation_Software.Api/Migrations/20240705001141_InitialDBMigration.cs
+++ b/Basestation_Software.Api/Migrations/20240705001141_InitialDBMigration.cs
@@ -1,53 +1,50 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
+using Microsoft.EntityFrameworkCore.Migrations;
 
 #nullable disable
 
-#pragma warning disable CA1814 // Prefer jagged arrays over multidimensional
 
-namespace Basestation_Software.Api.Migrations
+namespace Basestation_Software.Api.Migrations;
+
+/// <inheritdoc />
+public partial class InitialDBMigration : Migration
 {
     /// <inheritdoc />
-    public partial class InitialDBMigration : Migration
+    protected override void Up(MigrationBuilder migrationBuilder)
     {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.CreateTable(
-                name: "Waypoints",
-                columns: table => new
-                {
-                    ID = table.Column<int>(type: "INTEGER", nullable: false)
-                        .Annotation("Sqlite:Autoincrement", true),
-                    Name = table.Column<string>(type: "TEXT", nullable: true),
-                    Latitude = table.Column<double>(type: "REAL", nullable: true),
-                    Longitude = table.Column<double>(type: "REAL", nullable: true),
-                    Altitude = table.Column<double>(type: "REAL", nullable: true),
-                    Timestamp = table.Column<DateTime>(type: "TEXT", nullable: true),
-                    WaypointColor = table.Column<int>(type: "INTEGER", nullable: true),
-                    SearchRadius = table.Column<double>(type: "REAL", nullable: true),
-                    Type = table.Column<int>(type: "INTEGER", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_Waypoints", x => x.ID);
-                });
+        migrationBuilder.CreateTable(
+            name: "Waypoints",
+            columns: table => new
+            {
+                ID = table.Column<int>(type: "INTEGER", nullable: false)
+                    .Annotation("Sqlite:Autoincrement", true),
+                Name = table.Column<string>(type: "TEXT", nullable: true),
+                Latitude = table.Column<double>(type: "REAL", nullable: true),
+                Longitude = table.Column<double>(type: "REAL", nullable: true),
+                Altitude = table.Column<double>(type: "REAL", nullable: true),
+                Timestamp = table.Column<DateTime>(type: "TEXT", nullable: true),
+                WaypointColor = table.Column<int>(type: "INTEGER", nullable: true),
+                SearchRadius = table.Column<double>(type: "REAL", nullable: true),
+                Type = table.Column<int>(type: "INTEGER", nullable: true)
+            },
+            constraints: table =>
+            {
+                table.PrimaryKey("PK_Waypoints", x => x.ID);
+            });
 
-            migrationBuilder.InsertData(
-                table: "Waypoints",
-                columns: new[] { "ID", "Altitude", "Latitude", "Longitude", "Name", "SearchRadius", "Timestamp", "Type", "WaypointColor" },
-                values: new object[,]
-                {
-                    { 1, 1280.0, 38.405878999999999, -110.792207, "MDRS", 5.0, new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8159), 0, -16744448 },
-                    { 2, 315.0, 37.951763999999997, -91.778441000000001, "SDELC", 5.0, new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8289), 0, -65536 }
-                });
-        }
+        migrationBuilder.InsertData(
+            table: "Waypoints",
+            columns: new[] { "ID", "Altitude", "Latitude", "Longitude", "Name", "SearchRadius", "Timestamp", "Type", "WaypointColor" },
+            values: new object[,]
+            {
+                { 1, 1280.0, 38.405878999999999, -110.792207, "MDRS", 5.0, new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8159), 0, -16744448 },
+                { 2, 315.0, 37.951763999999997, -91.778441000000001, "SDELC", 5.0, new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8289), 0, -65536 }
+            });
+    }
 
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "Waypoints");
-        }
+    /// <inheritdoc />
+    protected override void Down(MigrationBuilder migrationBuilder)
+    {
+        migrationBuilder.DropTable(
+            name: "Waypoints");
     }
 }
diff --git a/Basestation_Software.Api/Migrations/20240706231340_Maptiles.cs b/Basestation_Software.Api/Migrations/20240706231340_Maptiles.cs
index 84514fa..0c91e5b 100644
--- a/Basestation_Software.Api/Migrations/20240706231340_Maptiles.cs
+++ b/Basestation_Software.Api/Migrations/20240706231340_Maptiles.cs
@@ -1,66 +1,64 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
+using Microsoft.EntityFrameworkCore.Migrations;
 
 #nullable disable
 
-namespace Basestation_Software.Api.Migrations
+namespace Basestation_Software.Api.Migrations;
+
+/// <inheritdoc />
+public partial class Maptiles : Migration
 {
     /// <inheritdoc />
-    public partial class Maptiles : Migration
+    protected override void Up(MigrationBuilder migrationBuilder)
     {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.CreateTable(
-                name: "MapTiles",
-                columns: table => new
-                {
-                    ID = table.Column<int>(type: "INTEGER", nullable: false)
-                        .Annotation("Sqlite:Autoincrement", true),
-                    X = table.Column<int>(type: "INTEGER", nullable: true),
-                    Y = table.Column<int>(type: "INTEGER", nullable: true),
-                    Z = table.Column<int>(type: "INTEGER", nullable: true),
-                    ImageData = table.Column<byte[]>(type: "BLOB", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_MapTiles", x => x.ID);
-                });
+        migrationBuilder.CreateTable(
+            name: "MapTiles",
+            columns: table => new
+            {
+                ID = table.Column<int>(type: "INTEGER", nullable: false)
+                    .Annotation("Sqlite:Autoincrement", true),
+                X = table.Column<int>(type: "INTEGER", nullable: true),
+                Y = table.Column<int>(type: "INTEGER", nullable: true),
+                Z = table.Column<int>(type: "INTEGER", nullable: true),
+                ImageData = table.Column<byte[]>(type: "BLOB", nullable: true)
+            },
+            constraints: table =>
+            {
+                table.PrimaryKey("PK_MapTiles", x => x.ID);
+            });
 
-            migrationBuilder.UpdateData(
-                table: "Waypoints",
-                keyColumn: "ID",
-                keyValue: 1,
-                column: "Timestamp",
-                value: new DateTime(2024, 7, 6, 18, 13, 39, 408, DateTimeKind.Local).AddTicks(2836));
+        migrationBuilder.UpdateData(
+            table: "Waypoints",
+            keyColumn: "ID",
+            keyValue: 1,
+            column: "Timestamp",
+            value: new DateTime(2024, 7, 6, 18, 13, 39, 408, DateTimeKind.Local).AddTicks(2836));
 
-            migrationBuilder.UpdateData(
-                table: "Waypoints",
-                keyColumn: "ID",
-                keyValue: 2,
-                column: "Timestamp",
-                value: new DateTime(2024, 7, 6, 18, 13, 39, 408, DateTimeKind.Local).AddTicks(2958));
-        }
+        migrationBuilder.UpdateData(
+            table: "Waypoints",
+            keyColumn: "ID",
+            keyValue: 2,
+            column: "Timestamp",
+            value: new DateTime(2024, 7, 6, 18, 13, 39, 408, DateTimeKind.Local).AddTicks(2958));
+    }
 
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "MapTiles");
+    /// <inheritdoc />
+    protected override void Down(MigrationBuilder migrationBuilder)
+    {
+        migrationBuilder.DropTable(
+            name: "MapTiles");
 
-            migrationBuilder.UpdateData(
-                table: "Waypoints",
-                keyColumn: "ID",
-                keyValue: 1,
-                column: "Timestamp",
-                value: new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8159));
+        migrationBuilder.UpdateData(
+            table: "Waypoints",
+            keyColumn: "ID",
+            keyValue: 1,
+            column: "Timestamp",
+            value: new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8159));
 
-            migrationBuilder.UpdateData(
-                table: "Waypoints",
-                keyColumn: "ID",
-                keyValue: 2,
-                column: "Timestamp",
-                value: new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8289));
-        }
+        migrationBuilder.UpdateData(
+            table: "Waypoints",
+            keyColumn: "ID",
+            keyValue: 2,
+            column: "Timestamp",
+            value: new DateTime(2024, 7, 4, 19, 11, 41, 140, DateTimeKind.Local).AddTicks(8289));
     }
 }
diff --git a/Basestation_Software.Models/Geospatial/GPSWaypoint.cs b/Basestation_Software.Models/Geospatial/GPSWaypoint.cs
index b024cb8..79e3524 100644
--- a/Basestation_Software.Models/Geospatial/GPSWaypoint.cs
+++ b/Basestation_Software.Models/Geospatial/GPSWaypoint.cs
@@ -1,17 +1,14 @@
-using System.Drawing;
+namespace Basestation_Software.Models.Geospatial;
 
-namespace Basestation_Software.Models.Geospatial
+public class GPSWaypoint
 {
-    public class GPSWaypoint
-    {
-        public int? ID { get; set; }
-        public string? Name { get; set; }
-        public double? Latitude { get; set; }
-        public double? Longitude { get; set;}
-        public double? Altitude { get; set; }
-        public DateTime? Timestamp { get; set; } = DateTime.Now;
-        public int? WaypointColor { get; set; }
-        public double? SearchRadius { get; set; }
-        public WaypointType? Type { get; set; }
-    }
+    public int? ID { get; set; }
+    public string? Name { get; set; }
+    public double? Latitude { get; set; }
+    public double? Longitude { get; set; }
+    public double? Altitude { get; set; }
+    public DateTime? Timestamp { get; set; } = DateTime.Now;
+    public int? WaypointColor { get; set; }
+    public double? SearchRadius { get; set; }
+    public WaypointType? Type { get; set; }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Models/Geospatial/GPSWaypointInput.cs b/Basestation_Software.Models/Geospatial/GPSWaypointInput.cs
index c1dcd62..e01496f 100644
--- a/Basestation_Software.Models/Geospatial/GPSWaypointInput.cs
+++ b/Basestation_Software.Models/Geospatial/GPSWaypointInput.cs
@@ -1,20 +1,14 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
+namespace Basestation_Software.Models.Geospatial;
 
-namespace Basestation_Software.Models.Geospatial
+public class GPSWaypointInput
 {
-    public class GPSWaypointInput
-    {
-        public int ID { get; set; } = -1;
-        public string Name { get; set; } = "";
-        public double Latitude { get; set; } = 0;
-        public double Longitude { get; set; } = 0;
-        public double Altitude { get; set; } = 0;
-        public string Timestamp { get; set; } = DateTime.Now.ToString();
-        public string WaypointColor { get; set; } = "rgb(0, 0, 0)";
-        public double SearchRadius { get; set; } = 0;
-        public string Type { get; set; } = "Navigation";
-    }
+    public int ID { get; set; } = -1;
+    public string Name { get; set; } = "";
+    public double Latitude { get; set; } = 0;
+    public double Longitude { get; set; } = 0;
+    public double Altitude { get; set; } = 0;
+    public string Timestamp { get; set; } = DateTime.Now.ToString();
+    public string WaypointColor { get; set; } = "rgb(0, 0, 0)";
+    public double SearchRadius { get; set; } = 0;
+    public string Type { get; set; } = "Navigation";
 }
\ No newline at end of file
diff --git a/Basestation_Software.Models/Geospatial/MapTile.cs b/Basestation_Software.Models/Geospatial/MapTile.cs
index 09bb911..f43a18a 100644
--- a/Basestation_Software.Models/Geospatial/MapTile.cs
+++ b/Basestation_Software.Models/Geospatial/MapTile.cs
@@ -1,16 +1,10 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
+namespace Basestation_Software.Models.Geospatial;
 
-namespace Basestation_Software.Models.Geospatial
+public class MapTile
 {
-    public class MapTile
-    {
-        public int? ID { get; set; }
-        public int? X { get; set; }
-        public int? Y { get; set; }
-        public int? Z { get; set; }
-        public byte[]? ImageData { get; set; }
-    }
+    public int? ID { get; set; }
+    public int? X { get; set; }
+    public int? Y { get; set; }
+    public int? Z { get; set; }
+    public byte[]? ImageData { get; set; }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Models/Geospatial/WaypointType.cs b/Basestation_Software.Models/Geospatial/WaypointType.cs
index f55d55b..e66f2c2 100644
--- a/Basestation_Software.Models/Geospatial/WaypointType.cs
+++ b/Basestation_Software.Models/Geospatial/WaypointType.cs
@@ -1,11 +1,10 @@
-namespace Basestation_Software.Models.Geospatial
+namespace Basestation_Software.Models.Geospatial;
+
+public enum WaypointType
 {
-    public enum WaypointType
-    {
-        Navigation,
-        Marker,
-        Object,
-        Gate,
-        Obstacle
-    }
+    Navigation,
+    Marker,
+    Object,
+    Gate,
+    Obstacle
 }
\ No newline at end of file
diff --git a/Basestation_Software.Models/Timers/ITimer.cs b/Basestation_Software.Models/Timers/ITimer.cs
index 6c1db89..d738e86 100644
--- a/Basestation_Software.Models/Timers/ITimer.cs
+++ b/Basestation_Software.Models/Timers/ITimer.cs
@@ -1,14 +1,8 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
+namespace Basestation_Software.Models.Timers;
 
-namespace Basestation_Software.Models.Timers
+public interface ITimer
 {
-    public interface ITimer
-    {
-        public void Start(int updateIntervalMS);
-        public void Stop();
-        public void Reset();
-    }
+    public void Start(int updateIntervalMS);
+    public void Stop();
+    public void Reset();
 }
\ No newline at end of file
diff --git a/Basestation_Software.Models/Timers/TaskTimer.cs b/Basestation_Software.Models/Timers/TaskTimer.cs
index 34779bb..1d67d2e 100644
--- a/Basestation_Software.Models/Timers/TaskTimer.cs
+++ b/Basestation_Software.Models/Timers/TaskTimer.cs
@@ -1,234 +1,227 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
+namespace Basestation_Software.Models.Timers;
 
-namespace Basestation_Software.Models.Timers
+public class TaskTimer : ITimer
 {
-    public class TaskTimer : ITimer
+    // Declare member variables.
+    public Timer? Timer { get; private set; }
+    public TaskType TaskType { get; private set; } = TaskType.Autonomy;
+    private bool _startPointChanged = false;
+    private DateTime _startPoint = DateTime.MinValue;
+    public DateTime StartPoint
     {
-        // Declare member variables.
-        public Timer? Timer { get; private set; }
-        public TaskType TaskType { get; private set; } = TaskType.Autonomy;
-        private bool _startPointChanged = false;
-        private DateTime _startPoint = DateTime.MinValue;
-        public DateTime StartPoint
+        get { return _startPoint; }
+        set
         {
-            get { return _startPoint; }
-            set
-            {
-                _startPoint = value;
-                _startPointChanged = true;
-            }
+            _startPoint = value;
+            _startPointChanged = true;
         }
-        public TimeSpan EndPoint { get; set; } = TimeSpan.MaxValue;
-        public TimeSpan ElapsedTime { get; private set; } = TimeSpan.Zero;
-        public Dictionary<string, TimeSpan> CheckPoints { get; set; } = new Dictionary<string, TimeSpan>();
-        public bool IsStarted { get; private set; } = false;
-        public bool IsPaused { get; private set; } = false;
-        public bool IsFinished { get; private set; } = false;
-        public bool IsBeingConfigured { get; private set; } = false;
-
-        // Delegates and events.
-        public delegate Task TimerTickCallback(TaskType timerTaskType, TimeSpan elapsedTime);
-        private event TimerTickCallback? TimerTickNotifier;
-
-        /// <summary>
-        /// Constructor.
-        /// </summary>
-        /// <param name="callback"></param>
-        /// <param name="timerName"></param>
-        public TaskTimer(TimerTickCallback callback, TaskType timerType)
+    }
+    public TimeSpan EndPoint { get; set; } = TimeSpan.MaxValue;
+    public TimeSpan ElapsedTime { get; private set; } = TimeSpan.Zero;
+    public Dictionary<string, TimeSpan> CheckPoints { get; set; } = [];
+    public bool IsStarted { get; private set; } = false;
+    public bool IsPaused { get; private set; } = false;
+    public bool IsFinished { get; private set; } = false;
+    public bool IsBeingConfigured { get; private set; } = false;
+
+    // Delegates and events.
+    public delegate Task TimerTickCallback(TaskType timerTaskType, TimeSpan elapsedTime);
+    private event TimerTickCallback? TimerTickNotifier;
+
+    /// <summary>
+    /// Constructor.
+    /// </summary>
+    /// <param name="callback"></param>
+    /// <param name="timerName"></param>
+    public TaskTimer(TimerTickCallback callback, TaskType timerType)
+    {
+        // Assigm member variables.
+        TimerTickNotifier += callback;
+        TaskType = timerType;
+    }
+
+    /// <summary>
+    /// Start the timer.
+    /// </summary>
+    /// <param name="updateIntervalMS">The interval in ms that the timer metrics and callbacks will be updated/invoked.</param>
+    public void Start(int updateIntervalMS = 100)
+    {
+        if (IsFinished)
         {
-            // Assigm member variables.
-            TimerTickNotifier += callback;
-            TaskType = timerType;
+            return;
         }
-
-        /// <summary>
-        /// Start the timer.
-        /// </summary>
-        /// <param name="updateIntervalMS">The interval in ms that the timer metrics and callbacks will be updated/invoked.</param>
-        public void Start(int updateIntervalMS = 100)
+        if (!IsPaused)
         {
-            if (IsFinished)
-            {
-                return;
-            }
-            if (!IsPaused)
-            {
-                StartPoint = DateTime.Now;
-                // Create new timer.
-                Timer = new Timer(UpdateElapsedTime, null, 0, updateIntervalMS);
-            }
-            else
-            {
-                // Offest the start point by the elapsed time.
-                StartPoint = DateTime.Now - ElapsedTime;
-            }
-            IsStarted = true;
-            IsPaused = false;
-            IsFinished = false;
+            StartPoint = DateTime.Now;
+            // Create new timer.
+            Timer = new Timer(UpdateElapsedTime, null, 0, updateIntervalMS);
         }
-
-        /// <summary>
-        /// Pause the timer.
-        /// </summary>
-        public void Stop()
+        else
         {
-            if (!IsStarted || IsFinished)
-            {
-                return;
-            }
-            IsStarted = true;
-            IsPaused = true;
-            IsFinished = false;
+            // Offest the start point by the elapsed time.
+            StartPoint = DateTime.Now - ElapsedTime;
         }
+        IsStarted = true;
+        IsPaused = false;
+        IsFinished = false;
+    }
 
-        /// <summary>
-        /// Reset the timer back to its initial state.
-        /// </summary>
-        public void Reset()
+    /// <summary>
+    /// Pause the timer.
+    /// </summary>
+    public void Stop()
+    {
+        if (!IsStarted || IsFinished)
         {
-            Timer?.Change(Timeout.Infinite, Timeout.Infinite);
-            IsStarted = false;
-            IsPaused = false;
-            IsFinished = false;
-            StartPoint = DateTime.Now;
-            ElapsedTime = TimeSpan.Zero;
-            UpdateElapsedTime(null);
+            return;
         }
+        IsStarted = true;
+        IsPaused = true;
+        IsFinished = false;
+    }
 
-        /// <summary>
-        /// Given a checkpoint name, skip the timer to that checkpoint.
-        /// </summary>
-        /// <param name="checkPointName">The name of the checkpoint to skip to.</param>
-        public void SkipToCheckPoint(string checkPointName)
+    /// <summary>
+    /// Reset the timer back to its initial state.
+    /// </summary>
+    public void Reset()
+    {
+        Timer?.Change(Timeout.Infinite, Timeout.Infinite);
+        IsStarted = false;
+        IsPaused = false;
+        IsFinished = false;
+        StartPoint = DateTime.Now;
+        ElapsedTime = TimeSpan.Zero;
+        UpdateElapsedTime(null);
+    }
+
+    /// <summary>
+    /// Given a checkpoint name, skip the timer to that checkpoint.
+    /// </summary>
+    /// <param name="checkPointName">The name of the checkpoint to skip to.</param>
+    public void SkipToCheckPoint(string checkPointName)
+    {
+        if (CheckPoints.ContainsKey(checkPointName))
         {
-            if (CheckPoints.ContainsKey(checkPointName))
-            {
-                // Sum all the checkpoints up to the checkpoint we want to skip to.
-                StartPoint = DateTime.Now - TimeSpan.FromSeconds(CheckPoints.Take(CheckPoints.Keys.ToList().IndexOf(checkPointName) + 1).Sum(x => x.Value.TotalSeconds));
-                UpdateElapsedTime(null);
-            }
+            // Sum all the checkpoints up to the checkpoint we want to skip to.
+            StartPoint = DateTime.Now - TimeSpan.FromSeconds(CheckPoints.Take(CheckPoints.Keys.ToList().IndexOf(checkPointName) + 1).Sum(x => x.Value.TotalSeconds));
+            UpdateElapsedTime(null);
         }
+    }
 
-        /// <summary>
-        /// Skip to the next checkpoint.
-        /// </summary>
-        public void SkipToNextCheckPoint()
+    /// <summary>
+    /// Skip to the next checkpoint.
+    /// </summary>
+    public void SkipToNextCheckPoint()
+    {
+        if (CheckPoints.Count > 0)
         {
-            if (CheckPoints.Count > 0)
+            // Figure out which checkpoints we are between. Checkpoints should be added in order since we are using a dictionary that just stores the duration of each checkpoint.
+            foreach (var checkPoint in CheckPoints)
             {
-                // Figure out which checkpoints we are between. Checkpoints should be added in order since we are using a dictionary that just stores the duration of each checkpoint.
-                foreach (var checkPoint in CheckPoints)
+                // Sum the checkpoints before with this one.
+                double checkPointStart = CheckPoints.Take(CheckPoints.Keys.ToList().IndexOf(checkPoint.Key) + 1).Sum(x => x.Value.TotalSeconds);
+                // Check if the elapsed time is between the current checkpoint and the next checkpoint.
+                if (checkPointStart >= ElapsedTime.TotalSeconds)
                 {
-                    // Sum the checkpoints before with this one.
-                    double checkPointStart = CheckPoints.Take(CheckPoints.Keys.ToList().IndexOf(checkPoint.Key) + 1).Sum(x => x.Value.TotalSeconds);
-                    // Check if the elapsed time is between the current checkpoint and the next checkpoint.
-                    if (checkPointStart >= ElapsedTime.TotalSeconds)
-                    {
-                        SkipToCheckPoint(checkPoint.Key);
-                        break;
-                    }
+                    SkipToCheckPoint(checkPoint.Key);
+                    break;
                 }
             }
         }
+    }
 
-        /// <summary>
-        /// Go back to the previous checkpoint.
-        /// </summary>
-        public void SkipToPreviousCheckPoint()
+    /// <summary>
+    /// Go back to the previous checkpoint.
+    /// </summary>
+    public void SkipToPreviousCheckPoint()
+    {
+        if (CheckPoints.Count > 0)
         {
-            if (CheckPoints.Count > 0)
+            // Figure out which checkpoints we are between. Checkpoints should be added in order since we are using a dictionary that just stores the duration of each checkpoint.
+            foreach (var checkPoint in CheckPoints)
             {
-                // Figure out which checkpoints we are between. Checkpoints should be added in order since we are using a dictionary that just stores the duration of each checkpoint.
-                foreach (var checkPoint in CheckPoints)
+                // Sum the checkpoints before with this one.
+                double checkPointStart = CheckPoints.Take(CheckPoints.Keys.ToList().IndexOf(checkPoint.Key) + 1).Sum(x => x.Value.TotalSeconds);
+                // Check if the elapsed time is between the current checkpoint and the next checkpoint.
+                if (checkPointStart <= ElapsedTime.TotalSeconds)
                 {
-                    // Sum the checkpoints before with this one.
-                    double checkPointStart = CheckPoints.Take(CheckPoints.Keys.ToList().IndexOf(checkPoint.Key) + 1).Sum(x => x.Value.TotalSeconds);
-                    // Check if the elapsed time is between the current checkpoint and the next checkpoint.
-                    if (checkPointStart <= ElapsedTime.TotalSeconds)
+                    // Check if the checkpoint start is zero. This means we haven't reached the first checkpoint yet.
+                    if (checkPointStart == 0)
                     {
-                        // Check if the checkpoint start is zero. This means we haven't reached the first checkpoint yet.
-                        if (checkPointStart == 0)
-                        {
-                            StartPoint = DateTime.Now;
-                            UpdateElapsedTime(null);
-                            break;
-                        }
-                        else
-                        {
-                            SkipToCheckPoint(checkPoint.Key);
-                            break;
-                        }
+                        StartPoint = DateTime.Now;
+                        UpdateElapsedTime(null);
+                        break;
                     }
                     else
                     {
-                        // If we are at the first checkpoint, reset the timer.
-                        Reset();
+                        SkipToCheckPoint(checkPoint.Key);
                         break;
                     }
                 }
-            }
-        }
-
-        /// <summary>
-        /// Updates timer metrics.
-        /// </summary>
-        /// <param name="state"></param>
-        /// <returns></returns>
-        private async void UpdateElapsedTime(object? state)
-        {
-            // Check if the timer is paused, but if the start time was changed, we need to update the elapsed time.
-            if (!IsPaused || _startPointChanged)
-            {
-                // Check if the timer is finished.
-                if (DateTime.Now - StartPoint >= EndPoint)
+                else
                 {
-                    Timer?.Change(Timeout.Infinite, Timeout.Infinite);
-                    IsFinished = true;
+                    // If we are at the first checkpoint, reset the timer.
+                    Reset();
+                    break;
                 }
-                ElapsedTime = DateTime.Now - StartPoint;
-                _startPointChanged = false;
-            }
-            if (TimerTickNotifier is not null)
-            {
-                await TimerTickNotifier.Invoke(TaskType, ElapsedTime);
             }
         }
+    }
 
-        /// <summary>
-        /// Converts a timespan into a short readable string. For example, 1h 30m 20s.
-        /// </summary>
-        /// <param name="timeSpan">The timespan to parse into a short string.</param>
-        /// <returns></returns>
-        public static string TimeSpanToShortReadableString(TimeSpan timeSpan)
+    /// <summary>
+    /// Updates timer metrics.
+    /// </summary>
+    /// <param name="state"></param>
+    /// <returns></returns>
+    private async void UpdateElapsedTime(object? state)
+    {
+        // Check if the timer is paused, but if the start time was changed, we need to update the elapsed time.
+        if (!IsPaused || _startPointChanged)
         {
-            if (timeSpan.TotalSeconds < 1)
+            // Check if the timer is finished.
+            if (DateTime.Now - StartPoint >= EndPoint)
             {
-                return "0s";
+                Timer?.Change(Timeout.Infinite, Timeout.Infinite);
+                IsFinished = true;
             }
+            ElapsedTime = DateTime.Now - StartPoint;
+            _startPointChanged = false;
+        }
+        if (TimerTickNotifier is not null)
+        {
+            await TimerTickNotifier.Invoke(TaskType, ElapsedTime);
+        }
+    }
 
-            var parts = new List<string>();
+    /// <summary>
+    /// Converts a timespan into a short readable string. For example, 1h 30m 20s.
+    /// </summary>
+    /// <param name="timeSpan">The timespan to parse into a short string.</param>
+    /// <returns></returns>
+    public static string TimeSpanToShortReadableString(TimeSpan timeSpan)
+    {
+        if (timeSpan.TotalSeconds < 1)
+        {
+            return "0s";
+        }
 
-            if (timeSpan.Hours > 0)
-            {
-                parts.Add($"{timeSpan.Hours}h");
-            }
+        var parts = new List<string>();
 
-            if (timeSpan.Minutes > 0)
-            {
-                parts.Add($"{timeSpan.Minutes}m");
-            }
+        if (timeSpan.Hours > 0)
+        {
+            parts.Add($"{timeSpan.Hours}h");
+        }
 
-            if (timeSpan.Seconds > 0)
-            {
-                parts.Add($"{timeSpan.Seconds}s");
-            }
+        if (timeSpan.Minutes > 0)
+        {
+            parts.Add($"{timeSpan.Minutes}m");
+        }
 
-            return string.Join(" ", parts);
+        if (timeSpan.Seconds > 0)
+        {
+            parts.Add($"{timeSpan.Seconds}s");
         }
-    }
 
+        return string.Join(" ", parts);
+    }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Models/Timers/TimerType.cs b/Basestation_Software.Models/Timers/TimerType.cs
index 55f2c80..8a7a762 100644
--- a/Basestation_Software.Models/Timers/TimerType.cs
+++ b/Basestation_Software.Models/Timers/TimerType.cs
@@ -1,10 +1,9 @@
-namespace Basestation_Software.Models.Timers
+namespace Basestation_Software.Models.Timers;
+
+public enum TaskType
 {
-    public enum TaskType
-    {
-        Autonomy,
-        Science,
-        ExtremeDelivery,
-        EquipmentServicing
-    }
+    Autonomy,
+    Science,
+    ExtremeDelivery,
+    EquipmentServicing
 }
\ No newline at end of file
diff --git a/Basestation_Software.Web/Core/Services/CookieService.cs b/Basestation_Software.Web/Core/Services/CookieService.cs
index 5576bc9..f73967b 100644
--- a/Basestation_Software.Web/Core/Services/CookieService.cs
+++ b/Basestation_Software.Web/Core/Services/CookieService.cs
@@ -1,79 +1,83 @@
 using Microsoft.JSInterop;
 
-namespace Basestation_Software.Web.Core.Services
+namespace Basestation_Software.Web.Core.Services;
+
+public class CookieService
 {
-    public class CookieService
+    // Declare member variables.
+    private readonly IJSRuntime _JSRuntime;
+    string expires = "";
+
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="jsRuntime">Implicitly passed in.</param>
+    public CookieService(IJSRuntime jsRuntime)
     {
-        // Declare member variables.
-        private readonly IJSRuntime _JSRuntime;
-        string expires = "";
+        _JSRuntime = jsRuntime;
+        ExpireDays = 30;
+    }
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="jsRuntime">Implicitly passed in.</param>
-        public CookieService(IJSRuntime jsRuntime)
-        {
-            _JSRuntime = jsRuntime;
-            ExpireDays = 30;
-        }
+    /// <summary>
+    /// Stores a cookie in the browser.
+    /// </summary>
+    /// <param name="key">The key to reference the cookie by later.</param>
+    /// <param name="value">The calue to store in the cookie</param>
+    /// <param name="days">The number of days before the cookie expires.</param>
+    /// <returns></returns>
+    public async Task SetValue(string key, string value, int? days = null)
+    {
+        var curExp = (days != null) ? (days > 0 ? DateToUTC(days.Value) : "") : expires;
+        await SetCookie($"{key}={value}; expires={curExp}; path=/");
+    }
 
-        /// <summary>
-        /// Stores a cookie in the browser.
-        /// </summary>
-        /// <param name="key">The key to reference the cookie by later.</param>
-        /// <param name="value">The calue to store in the cookie</param>
-        /// <param name="days">The number of days before the cookie expires.</param>
-        /// <returns></returns>
-        public async Task SetValue(string key, string value, int? days = null)
-        {
-            var curExp = (days != null) ? (days > 0 ? DateToUTC(days.Value) : "") : expires;
-            await SetCookie($"{key}={value}; expires={curExp}; path=/");
-        }
+    /// <summary>
+    /// Gets a cookie from the browser.
+    /// </summary>
+    /// <param name="key">The name of the cookie.</param>
+    /// <param name="def">The default value if the cookie isn't found.</param>
+    /// <returns></returns>
+    public async Task<string> GetValue(string key, string def = "")
+    {
+        var cValue = await GetCookie();
+        if (string.IsNullOrEmpty(cValue)) return def;
 
-        /// <summary>
-        /// Gets a cookie from the browser.
-        /// </summary>
-        /// <param name="key">The name of the cookie.</param>
-        /// <param name="def">The default value if the cookie isn't found.</param>
-        /// <returns></returns>
-        public async Task<string> GetValue(string key, string def = "")
+        var vals = cValue.Split(';');
+        foreach (var val in vals)
         {
-			var cValue = await GetCookie();
-            if (string.IsNullOrEmpty(cValue)) return def;                
-
-            var vals = cValue.Split(';');
-            foreach (var val in vals)
-                if(!string.IsNullOrEmpty(val) && val.IndexOf('=') > 0)
-                    if(val.Substring(0, val.IndexOf('=')).Trim().Equals(key, StringComparison.OrdinalIgnoreCase))
-                        return val.Substring(val.IndexOf('=') + 1);
-            return def;
+            if (!string.IsNullOrEmpty(val) && val.IndexOf('=') > 0)
+            {
+                if (val.Substring(0, val.IndexOf('=')).Trim().Equals(key, StringComparison.OrdinalIgnoreCase))
+                    return val.Substring(val.IndexOf('=') + 1);
+            }
         }
 
-        /// <summary>
-        /// Sets a cookie.
-        /// </summary>
-        /// <param name="value">Cookie info.</param>
-        /// <returns></returns>
-        private async Task SetCookie(string value)
-        {
-            await _JSRuntime.InvokeVoidAsync("eval", $"document.cookie = \"{value}\"");
-        }
+        return def;
+    }
 
-        /// <summary>
-        /// Gets a cookie.
-        /// </summary>
-        /// <returns>The cookie info.</returns>
-        private async Task<string> GetCookie()
-        {
-            return await _JSRuntime.InvokeAsync<string>("eval", $"document.cookie");
-        }
+    /// <summary>
+    /// Sets a cookie.
+    /// </summary>
+    /// <param name="value">Cookie info.</param>
+    /// <returns></returns>
+    private async Task SetCookie(string value)
+    {
+        await _JSRuntime.InvokeVoidAsync("eval", $"document.cookie = \"{value}\"");
+    }
 
-        public int ExpireDays
-        {
-            set => expires = DateToUTC(value);
-        }
+    /// <summary>
+    /// Gets a cookie.
+    /// </summary>
+    /// <returns>The cookie info.</returns>
+    private async Task<string> GetCookie()
+    {
+        return await _JSRuntime.InvokeAsync<string>("eval", $"document.cookie");
+    }
 
-        private static string DateToUTC(int days) => DateTime.Now.AddDays(days).ToUniversalTime().ToString("R");
+    public int ExpireDays
+    {
+        set => expires = DateToUTC(value);
     }
+
+    private static string DateToUTC(int days) => DateTime.Now.AddDays(days).ToUniversalTime().ToString("R");
 }
\ No newline at end of file
diff --git a/Basestation_Software.Web/Core/Services/GPSWaypointService.cs b/Basestation_Software.Web/Core/Services/GPSWaypointService.cs
index 0bb1f09..ef00bde 100644
--- a/Basestation_Software.Web/Core/Services/GPSWaypointService.cs
+++ b/Basestation_Software.Web/Core/Services/GPSWaypointService.cs
@@ -1,119 +1,118 @@
 
 using Basestation_Software.Models.Geospatial;
 
-namespace Basestation_Software.Web.Core.Services
+namespace Basestation_Software.Web.Core.Services;
+
+public class GPSWaypointService
 {
-    public class GPSWaypointService
-    {
-        // Injected services.
-        private readonly HttpClient _HttpClient;
-        // Declare member variables.
-        private List<GPSWaypoint> _gpsWaypoints = new List<GPSWaypoint>();
+    // Injected services.
+    private readonly HttpClient _HttpClient;
+    // Declare member variables.
+    private List<GPSWaypoint> _gpsWaypoints = [];
 
-        // Method delegates and events.
-        public delegate Task SyncWaypointsCallback();
-        private event SyncWaypointsCallback? SyncWaypointsNotifier;
+    // Method delegates and events.
+    public delegate Task SyncWaypointsCallback();
+    private event SyncWaypointsCallback? SyncWaypointsNotifier;
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="httpClient">Implicitly passed in, used to talk to the basestation API.</param>
-        public GPSWaypointService(HttpClient httpClient)
-        {
-            // Assign member variables.
-            _HttpClient = httpClient;
-        }
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="httpClient">Implicitly passed in, used to talk to the basestation API.</param>
+    public GPSWaypointService(HttpClient httpClient)
+    {
+        // Assign member variables.
+        _HttpClient = httpClient;
+    }
 
-        /// <summary>
-        /// Refreshes the cached waypoints list from the API database.
-        /// </summary>
-        /// <returns></returns>
-        public async Task RefreshGPSWaypoints()
+    /// <summary>
+    /// Refreshes the cached waypoints list from the API database.
+    /// </summary>
+    /// <returns></returns>
+    public async Task RefreshGPSWaypoints()
+    {
+        List<GPSWaypoint>? waypoints = await _HttpClient.GetFromJsonAsync<List<GPSWaypoint>>("http://localhost:5000/api/GPSWaypoint");
+        if (waypoints is not null)
         {
-            List<GPSWaypoint>? waypoints = await _HttpClient.GetFromJsonAsync<List<GPSWaypoint>>("http://localhost:5000/api/GPSWaypoint");
-            if (waypoints is not null)
-            {
-                _gpsWaypoints = waypoints;
-            }
-
-            // Invoke the callback to refresh page data.
-            await SyncWaypointsNotifier!.Invoke();
+            _gpsWaypoints = waypoints;
         }
 
-        /// <summary>
-        /// Add a callback to get invoked when the waypoints list changes.
-        /// </summary>
-        /// <param name="callback">The method callback to add.</param>
-        public void SubscribeToWaypointsChanges(SyncWaypointsCallback callback)
-        {
-            SyncWaypointsNotifier += callback;
-        }
+        // Invoke the callback to refresh page data.
+        await SyncWaypointsNotifier!.Invoke();
+    }
 
-        /// <summary>
-        /// Remove a callback from getting invoked when the waypoints list changes.
-        /// </summary>
-        /// <param name="callback">The method callback to remove.</param>
-        public void UnsubscribeFromWaypointsChanges(SyncWaypointsCallback callback)
-        {
-            SyncWaypointsNotifier -= callback;
-        }
+    /// <summary>
+    /// Add a callback to get invoked when the waypoints list changes.
+    /// </summary>
+    /// <param name="callback">The method callback to add.</param>
+    public void SubscribeToWaypointsChanges(SyncWaypointsCallback callback)
+    {
+        SyncWaypointsNotifier += callback;
+    }
 
-        /// <summary>
-        /// Add a new waypoint to the database.
-        /// </summary>
-        /// <param name="waypoint">The waypoint to add.</param>
-        /// <returns></returns>
-        public async Task AddGPSWaypoint(GPSWaypoint waypoint)
-        {
-            // Add the waypoint to the database with the API.
-            await _HttpClient.PutAsJsonAsync($"http://localhost:5000/api/GPSWaypoint", waypoint);
-            // Refresh data.
-            await RefreshGPSWaypoints();
-        }
+    /// <summary>
+    /// Remove a callback from getting invoked when the waypoints list changes.
+    /// </summary>
+    /// <param name="callback">The method callback to remove.</param>
+    public void UnsubscribeFromWaypointsChanges(SyncWaypointsCallback callback)
+    {
+        SyncWaypointsNotifier -= callback;
+    }
 
-        /// <summary>
-        /// Update a waypoint in the database.
-        /// </summary>
-        /// <param name="waypoint">The waypoint to update. ID must match an existing ID.</param>
-        /// <returns></returns>
-        public async Task UpdateGPSWaypoint(GPSWaypoint waypoint)
-        {
-            // Write the waypoint data to the database with the API.
-            await _HttpClient.PostAsJsonAsync($"http://localhost:5000/api/GPSWaypoint", waypoint);
-            // Refresh data.
-            await RefreshGPSWaypoints();
-        }
+    /// <summary>
+    /// Add a new waypoint to the database.
+    /// </summary>
+    /// <param name="waypoint">The waypoint to add.</param>
+    /// <returns></returns>
+    public async Task AddGPSWaypoint(GPSWaypoint waypoint)
+    {
+        // Add the waypoint to the database with the API.
+        await _HttpClient.PutAsJsonAsync($"http://localhost:5000/api/GPSWaypoint", waypoint);
+        // Refresh data.
+        await RefreshGPSWaypoints();
+    }
 
-        /// <summary>
-        /// Given a waypoint ID delete it from the database.
-        /// </summary>
-        /// <param name="waypoint">The waypoint to delete.</param>
-        /// <returns></returns>
-        public async Task DeleteGPSWaypoint(GPSWaypoint waypoint)
-        {
-            // Delete the waypoint from the database.
-            await _HttpClient.DeleteAsync($"http://localhost:5000/api/GPSWaypoint/{waypoint.ID}");
-            // Refresh data.
-            await RefreshGPSWaypoints();
-        }
+    /// <summary>
+    /// Update a waypoint in the database.
+    /// </summary>
+    /// <param name="waypoint">The waypoint to update. ID must match an existing ID.</param>
+    /// <returns></returns>
+    public async Task UpdateGPSWaypoint(GPSWaypoint waypoint)
+    {
+        // Write the waypoint data to the database with the API.
+        await _HttpClient.PostAsJsonAsync($"http://localhost:5000/api/GPSWaypoint", waypoint);
+        // Refresh data.
+        await RefreshGPSWaypoints();
+    }
 
-        /// <summary>
-        /// Return a reference to the list of GPSWaypoints.
-        /// </summary>
-        /// <returns></returns>
-        public List<GPSWaypoint> GetGPSWaypoints()
-        {
-            return _gpsWaypoints;
-        }
+    /// <summary>
+    /// Given a waypoint ID delete it from the database.
+    /// </summary>
+    /// <param name="waypoint">The waypoint to delete.</param>
+    /// <returns></returns>
+    public async Task DeleteGPSWaypoint(GPSWaypoint waypoint)
+    {
+        // Delete the waypoint from the database.
+        await _HttpClient.DeleteAsync($"http://localhost:5000/api/GPSWaypoint/{waypoint.ID}");
+        // Refresh data.
+        await RefreshGPSWaypoints();
+    }
 
-        /// <summary>
-        /// Returns the waypoint with the given ID.
-        /// </summary>
-        /// <param name="waypointID">The ID of the waypoint to retrieve.</param>
-        /// <returns></returns>
-        public GPSWaypoint? GetGPSWaypoint(int waypointID)
-        {
-            return _gpsWaypoints.FirstOrDefault(x => x.ID == waypointID);
-        }
+    /// <summary>
+    /// Return a reference to the list of GPSWaypoints.
+    /// </summary>
+    /// <returns></returns>
+    public List<GPSWaypoint> GetGPSWaypoints()
+    {
+        return _gpsWaypoints;
+    }
+
+    /// <summary>
+    /// Returns the waypoint with the given ID.
+    /// </summary>
+    /// <param name="waypointID">The ID of the waypoint to retrieve.</param>
+    /// <returns></returns>
+    public GPSWaypoint? GetGPSWaypoint(int waypointID)
+    {
+        return _gpsWaypoints.FirstOrDefault(x => x.ID == waypointID);
     }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Web/Core/Services/MapTileService.cs b/Basestation_Software.Web/Core/Services/MapTileService.cs
index 99f02f7..45710a0 100644
--- a/Basestation_Software.Web/Core/Services/MapTileService.cs
+++ b/Basestation_Software.Web/Core/Services/MapTileService.cs
@@ -1,92 +1,91 @@
 using Basestation_Software.Models.Geospatial;
 
-namespace Basestation_Software.Web.Core.Services
+namespace Basestation_Software.Web.Core.Services;
+
+public class MapTileService
 {
-    public class MapTileService
+    // Declare member variables.
+    private readonly HttpClient _HttpClient;
+
+
+    /// <summary>
+    /// Constructor
+    /// </summary>
+    /// <param name="httpClient">Implicitly passed in, used to talk to the basestation API.</param>
+    public MapTileService(HttpClient httpClient)
     {
-        // Declare member variables.
-        private readonly HttpClient _HttpClient;
-        
+        // Assign member variables.
+        _HttpClient = httpClient;
+    }
 
-        /// <summary>
-        /// Constructor
-        /// </summary>
-        /// <param name="httpClient">Implicitly passed in, used to talk to the basestation API.</param>
-        public MapTileService(HttpClient httpClient)
-        {
-            // Assign member variables.
-            _HttpClient = httpClient;
-        }
+    /// <summary>
+    /// Add a new tile to the database.
+    /// </summary>
+    /// <param name="tile">The tile to add.</param>
+    /// <returns></returns>
+    public async Task AddMapTile(MapTile tile)
+    {
+        // Add the tile to the database with the API.
+        await _HttpClient.PutAsJsonAsync($"http://localhost:5000/api/MapTiles", tile);
+    }
 
-        /// <summary>
-        /// Add a new tile to the database.
-        /// </summary>
-        /// <param name="tile">The tile to add.</param>
-        /// <returns></returns>
-        public async Task AddMapTile(MapTile tile)
-        {
-            // Add the tile to the database with the API.
-            await _HttpClient.PutAsJsonAsync($"http://localhost:5000/api/MapTiles", tile);
-        }
+    /// <summary>
+    /// Update a tile in the database.
+    /// </summary>
+    /// <param name="tile">The tile to update. ID must match an existing ID.</param>
+    /// <returns></returns>
+    public async Task UpdateMapTile(MapTile tile)
+    {
+        // Write the tile data to the database with the API.
+        await _HttpClient.PostAsJsonAsync($"http://localhost:5000/api/MapTiles", tile);
+    }
+
+    /// <summary>
+    /// Given a tile ID delete it from the database.
+    /// </summary>
+    /// <param name="tile">The tile to delete.</param>
+    /// <returns></returns>
+    public async Task DeleteMapTile(MapTile tile)
+    {
+        // Delete the tile from the database.
+        await _HttpClient.DeleteAsync($"http://localhost:5000/api/MapTiles/{tile.ID}");
+    }
 
-        /// <summary>
-        /// Update a tile in the database.
-        /// </summary>
-        /// <param name="tile">The tile to update. ID must match an existing ID.</param>
-        /// <returns></returns>
-        public async Task UpdateMapTile(MapTile tile)
+    /// <summary>
+    /// Returns the tile image with the given x, y, z
+    /// </summary>
+    /// <param name="x"></param>
+    /// <param name="y"></param>
+    /// <param name="z"></param>
+    /// <returns></returns>
+    public async Task<MapTile?> GetMapTileImage(int x, int y, int z)
+    {
+        try
         {
-            // Write the tile data to the database with the API.
-            await _HttpClient.PostAsJsonAsync($"http://localhost:5000/api/MapTiles", tile);
+            return await _HttpClient.GetFromJsonAsync<MapTile?>($"http://localhost:5000/api/MapTiles/{z}/{y}/{x}.png");
         }
-
-        /// <summary>
-        /// Given a tile ID delete it from the database.
-        /// </summary>
-        /// <param name="tile">The tile to delete.</param>
-        /// <returns></returns>
-        public async Task DeleteMapTile(MapTile tile)
+        catch (Exception)
         {
-            // Delete the tile from the database.
-            await _HttpClient.DeleteAsync($"http://localhost:5000/api/MapTiles/{tile.ID}");
+            return null;
         }
+    }
 
-        /// <summary>
-        /// Returns the tile image with the given x, y, z
-        /// </summary>
-        /// <param name="x"></param>
-        /// <param name="y"></param>
-        /// <param name="z"></param>
-        /// <returns></returns>
-        public async Task<MapTile?> GetMapTileImage(int x, int y, int z)
+    /// <summary>
+    /// Returns the tile with the given x, y, z
+    /// </summary>
+    /// <param name="x"></param>
+    /// <param name="y"></param>
+    /// <param name="z"></param>
+    /// <returns></returns>
+    public async Task<MapTile?> GetMapTile(int x, int y, int z)
+    {
+        try
         {
-            try 
-            {
-                return await _HttpClient.GetFromJsonAsync<MapTile?>($"http://localhost:5000/api/MapTiles/{z}/{y}/{x}.png");
-            } 
-            catch (Exception) 
-            {
-                return null;
-            }
+            return await _HttpClient.GetFromJsonAsync<MapTile?>($"http://localhost:5000/api/MapTiles/{z}/{y}/{x}");
         }
-
-        /// <summary>
-        /// Returns the tile with the given x, y, z
-        /// </summary>
-        /// <param name="x"></param>
-        /// <param name="y"></param>
-        /// <param name="z"></param>
-        /// <returns></returns>
-        public async Task<MapTile?> GetMapTile(int x, int y, int z)
+        catch (Exception)
         {
-            try
-            {
-                return await _HttpClient.GetFromJsonAsync<MapTile?>($"http://localhost:5000/api/MapTiles/{z}/{y}/{x}");
-            }
-            catch (Exception)
-            {
-                return null;
-            }
+            return null;
         }
     }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Web/Core/Services/TaskTimerService.cs b/Basestation_Software.Web/Core/Services/TaskTimerService.cs
index 9cb2add..ba91cc0 100644
--- a/Basestation_Software.Web/Core/Services/TaskTimerService.cs
+++ b/Basestation_Software.Web/Core/Services/TaskTimerService.cs
@@ -1,147 +1,142 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
 using Basestation_Software.Models.Timers;
 
-namespace Basestation_Software.Web.Core.Services
+namespace Basestation_Software.Web.Core.Services;
+
+public class TaskTimerService
 {
-    public class TaskTimerService
-    {
-        // Declare member variables.
-        private List<TaskTimer> _taskTimers = new List<TaskTimer>();
+    // Declare member variables.
+    private List<TaskTimer> _taskTimers = [];
 
-        // Create a dictionary of event handlers for updating the UIs.
-        public delegate Task TimerTickCallback(TimeSpan elapsedTime);
-        public Dictionary<TaskType, TimerTickCallback?> TimerTickNotifiers = new Dictionary<TaskType, TimerTickCallback?>();
+    // Create a dictionary of event handlers for updating the UIs.
+    public delegate Task TimerTickCallback(TimeSpan elapsedTime);
+    public Dictionary<TaskType, TimerTickCallback?> TimerTickNotifiers = [];
 
-        /// <summary>
-        /// Constructor.
-        /// </summary>
-        public TaskTimerService()
+    /// <summary>
+    /// Constructor.
+    /// </summary>
+    public TaskTimerService()
+    {
+        // Loop through the task timer types enum.
+        foreach (TaskType TaskType in Enum.GetValues(typeof(TaskType)))
         {
-            // Loop through the task timer types enum.
-            foreach (TaskType TaskType in Enum.GetValues(typeof(TaskType)))
+            // Check if a task timer for the current type exists.
+            TaskTimer? taskTimer = GetTaskTimer(TaskType);
+            // Check if the timer is null.
+            if (taskTimer == null)
             {
-                // Check if a task timer for the current type exists.
-                TaskTimer? taskTimer = GetTaskTimer(TaskType);
-                // Check if the timer is null.
-                if (taskTimer == null)
+                // Create a new timer.
+                TaskTimer newTimer = new(OnTimerTick, TaskType);
+                // Configure the timer.
+                switch (TaskType)
                 {
-                    // Create a new timer.
-                    TaskTimer newTimer = new TaskTimer(OnTimerTick, TaskType);
-                    // Configure the timer.
-                    switch (TaskType)
-                    {
-                        case TaskType.Autonomy:
-                            // Total time for the task.
-                            newTimer.EndPoint = TimeSpan.FromSeconds(80);
-                            // Add checkpoints.
-                            newTimer.CheckPoints = new Dictionary<string, TimeSpan>
-                            {
-                                { "Setup", TimeSpan.FromSeconds(10) },
-                                { "Autonomy Task", TimeSpan.FromSeconds(60) },
-                                { "PackUp", TimeSpan.FromSeconds(10) }
-                            };
-                            break;
-                        case TaskType.Science:
-                            // Total time for the task.
-                            newTimer.EndPoint = TimeSpan.FromMinutes(50);
-                            // Add checkpoints.
-                            newTimer.CheckPoints = new Dictionary<string, TimeSpan>
-                            {
-                                { "Setup", TimeSpan.FromMinutes(10) },
-                                { "Science Task", TimeSpan.FromMinutes(30) },
-                                { "PackUp", TimeSpan.FromMinutes(10) },
-                            };
-                            break;
-                        case TaskType.ExtremeDelivery:
-                            // Total time for the task.
-                            newTimer.EndPoint = TimeSpan.FromMinutes(80);
-                            // Add checkpoints.
-                            newTimer.CheckPoints = new Dictionary<string, TimeSpan>
-                            {
-                                { "Setup", TimeSpan.FromMinutes(10) },
-                                { "Extreme Retrieval/Delivery Task", TimeSpan.FromMinutes(60) },
-                                { "PackUp", TimeSpan.FromMinutes(10) },
-                            };
-                            break;
-                        case TaskType.EquipmentServicing:
-                            // Total time for the task.
-                            newTimer.EndPoint = TimeSpan.FromMinutes(50);
-                            // Add checkpoints.
-                            newTimer.CheckPoints = new Dictionary<string, TimeSpan>
-                            {
-                                { "Setup", TimeSpan.FromMinutes(10) },
-                                { "Equipment Servicing Task", TimeSpan.FromMinutes(30) },
-                                { "PackUp", TimeSpan.FromMinutes(10) },
-                            };
-                            break;
-                        default:
-                            newTimer.EndPoint = TimeSpan.FromMinutes(1);
-                            break;
-                    }
-                    // Add the timer to the service.
-                    AddTaskTimer(newTimer);
+                    case TaskType.Autonomy:
+                        // Total time for the task.
+                        newTimer.EndPoint = TimeSpan.FromSeconds(80);
+                        // Add checkpoints.
+                        newTimer.CheckPoints = new Dictionary<string, TimeSpan>
+                        {
+                            { "Setup", TimeSpan.FromSeconds(10) },
+                            { "Autonomy Task", TimeSpan.FromSeconds(60) },
+                            { "PackUp", TimeSpan.FromSeconds(10) }
+                        };
+                        break;
+                    case TaskType.Science:
+                        // Total time for the task.
+                        newTimer.EndPoint = TimeSpan.FromMinutes(50);
+                        // Add checkpoints.
+                        newTimer.CheckPoints = new Dictionary<string, TimeSpan>
+                        {
+                            { "Setup", TimeSpan.FromMinutes(10) },
+                            { "Science Task", TimeSpan.FromMinutes(30) },
+                            { "PackUp", TimeSpan.FromMinutes(10) },
+                        };
+                        break;
+                    case TaskType.ExtremeDelivery:
+                        // Total time for the task.
+                        newTimer.EndPoint = TimeSpan.FromMinutes(80);
+                        // Add checkpoints.
+                        newTimer.CheckPoints = new Dictionary<string, TimeSpan>
+                        {
+                            { "Setup", TimeSpan.FromMinutes(10) },
+                            { "Extreme Retrieval/Delivery Task", TimeSpan.FromMinutes(60) },
+                            { "PackUp", TimeSpan.FromMinutes(10) },
+                        };
+                        break;
+                    case TaskType.EquipmentServicing:
+                        // Total time for the task.
+                        newTimer.EndPoint = TimeSpan.FromMinutes(50);
+                        // Add checkpoints.
+                        newTimer.CheckPoints = new Dictionary<string, TimeSpan>
+                        {
+                            { "Setup", TimeSpan.FromMinutes(10) },
+                            { "Equipment Servicing Task", TimeSpan.FromMinutes(30) },
+                            { "PackUp", TimeSpan.FromMinutes(10) },
+                        };
+                        break;
+                    default:
+                        newTimer.EndPoint = TimeSpan.FromMinutes(1);
+                        break;
                 }
-
-                // Add the timer tick callback to the dictionary.
-                TimerTickNotifiers.Add(TaskType, null);
+                // Add the timer to the service.
+                AddTaskTimer(newTimer);
             }
-        }
 
-        /// <summary>
-        /// Runs when a timer ticks.
-        /// </summary>
-        /// <param name="timerName">The task type.</param>
-        /// <param name="timeElapsed">The current time elapsed in the task.</param>
-        /// <returns></returns>
-        private async Task OnTimerTick(TaskType timerName, TimeSpan timeElapsed)
-        {
-            // Invoke the timer tick callback.
-            if (TimerTickNotifiers.ContainsKey(timerName) && TimerTickNotifiers[timerName] is not null)
-            {
-                await TimerTickNotifiers[timerName]!.Invoke(timeElapsed);
-            }
+            // Add the timer tick callback to the dictionary.
+            TimerTickNotifiers.Add(TaskType, null);
         }
+    }
 
-        /// <summary>
-        /// Add a task timer to the list of task timers.
-        /// </summary>
-        /// <param name="taskTimer">The task timer object.</param>
-        public void AddTaskTimer(TaskTimer taskTimer)
+    /// <summary>
+    /// Runs when a timer ticks.
+    /// </summary>
+    /// <param name="timerName">The task type.</param>
+    /// <param name="timeElapsed">The current time elapsed in the task.</param>
+    /// <returns></returns>
+    private async Task OnTimerTick(TaskType timerName, TimeSpan timeElapsed)
+    {
+        // Invoke the timer tick callback.
+        if (TimerTickNotifiers.ContainsKey(timerName) && TimerTickNotifiers[timerName] is not null)
         {
-            _taskTimers.Add(taskTimer);
+            await TimerTickNotifiers[timerName]!.Invoke(timeElapsed);
         }
+    }
 
-        /// <summary>
-        /// Remove a task timer from the list of task timers.
-        /// </summary>
-        /// <param name="taskTimerType">The tasktimer object type to remove.</param>
-        public void RemoveTaskTimer(TaskType taskTimerType)
+    /// <summary>
+    /// Add a task timer to the list of task timers.
+    /// </summary>
+    /// <param name="taskTimer">The task timer object.</param>
+    public void AddTaskTimer(TaskTimer taskTimer)
+    {
+        _taskTimers.Add(taskTimer);
+    }
+
+    /// <summary>
+    /// Remove a task timer from the list of task timers.
+    /// </summary>
+    /// <param name="taskTimerType">The tasktimer object type to remove.</param>
+    public void RemoveTaskTimer(TaskType taskTimerType)
+    {
+        TaskTimer? taskTimer = GetTaskTimer(taskTimerType);
+        if (taskTimer != null)
         {
-            TaskTimer? taskTimer = GetTaskTimer(taskTimerType);
-            if (taskTimer != null)
-            {
-                _taskTimers.RemoveAll(t => t == taskTimer);
-            }
+            _taskTimers.RemoveAll(t => t == taskTimer);
         }
+    }
 
-        /// <summary>
-        /// Get a task timer from the list of task timers.
-        /// </summary>
-        /// <param name="TaskTimerName">The name of the task timer to retrieve.</param>
-        /// <returns></returns>
-        public TaskTimer? GetTaskTimer(TaskType timerType)
+    /// <summary>
+    /// Get a task timer from the list of task timers.
+    /// </summary>
+    /// <param name="TaskTimerName">The name of the task timer to retrieve.</param>
+    /// <returns></returns>
+    public TaskTimer? GetTaskTimer(TaskType timerType)
+    {
+        foreach (TaskTimer taskTimer in _taskTimers)
         {
-            foreach (TaskTimer taskTimer in _taskTimers)
+            if (taskTimer.TaskType == timerType)
             {
-                if (taskTimer.TaskType == timerType)
-                {
-                    return taskTimer;
-                }
+                return taskTimer;
             }
-            return null;
         }
+        return null;
     }
 }
\ No newline at end of file
diff --git a/Basestation_Software.Web/Program.cs b/Basestation_Software.Web/Program.cs
index 4e8c52f..d15131f 100644
--- a/Basestation_Software.Web/Program.cs
+++ b/Basestation_Software.Web/Program.cs
@@ -3,16 +3,16 @@
 using Blazored.Toast;
 using Radzen;
 
+#pragma warning disable IDE0211 // Convert to 'Program.Main' style program
 var builder = WebApplication.CreateBuilder(args);
-#pragma warning restore IDE0211 // Convert to 'Program.Main' style program
 
 // Add services to the container.
 builder.Services.AddRazorComponents()
     .AddInteractiveServerComponents()
     .AddInteractiveWebAssemblyComponents();
 builder.Services.AddServerSideBlazor()
-        .AddCircuitOptions(option => 
-        { 
+        .AddCircuitOptions(option =>
+        {
             option.DetailedErrors = true;
             option.DisconnectedCircuitRetentionPeriod = TimeSpan.FromSeconds(10);
         })

From e206d992df994f5055a72ae0658259278f475ee1 Mon Sep 17 00:00:00 2001
From: OcelotEmpire <hobbz.pi@gmail.com>
Date: Mon, 23 Sep 2024 17:17:20 -0500
Subject: [PATCH 13/15] changed callback parameter type to RoveCommPacket

---
 .../RoveComm/RoveCommPacket.cs                |   2 +-
 .../RoveComm/RoveCommUtils.cs                 | 275 ++++++++++--------
 .../Core/Components/RoveCommExample.razor     |  33 ++-
 .../Core/Services/RoveComm/RoveCommService.cs |  30 +-
 .../Core/Services/RoveComm/RoveCommTCP.cs     |   2 +-
 .../Core/Services/RoveComm/RoveCommUDP.cs     |   2 +-
 6 files changed, 196 insertions(+), 148 deletions(-)

diff --git a/Basestation_Software.Models/RoveComm/RoveCommPacket.cs b/Basestation_Software.Models/RoveComm/RoveCommPacket.cs
index 9d5e61d..32b204f 100644
--- a/Basestation_Software.Models/RoveComm/RoveCommPacket.cs
+++ b/Basestation_Software.Models/RoveComm/RoveCommPacket.cs
@@ -29,7 +29,7 @@ public RoveCommPacket(int dataId, List<T> data)
     }
 
     public RoveCommPacket(int dataId, int dataCount) :
-        this(dataId, new List<T>(dataCount))
+        this(dataId, new List<T>(new T[dataCount]))
     { }
 
     public RoveCommHeader GetHeader()
diff --git a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
index b86859b..86a1171 100644
--- a/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
+++ b/Basestation_Software.Models/RoveComm/RoveCommUtils.cs
@@ -20,6 +20,12 @@ public RoveCommException(string message) : base(message) { }
     public RoveCommException(string message, Exception inner) : base(message, inner) { }
 }
 
+/// <summary>
+/// A function to be called by RoveComm when a relevant RoveCommPacket is received.
+/// </summary>
+/// <param name="packet">The Data field of the received RoveCommPacket.</param>
+public delegate Task RoveCommCallback<T>(RoveCommPacket<T> packet);
+
 /// <summary>
 /// Helper functions used by RoveComm internally.
 /// </summary>
@@ -111,21 +117,62 @@ public static bool FindBoardByName(string boardName, out RoveCommBoardDesc? boar
     /// Query board and packet info from the Manifest by their names.
     /// </summary>
     /// <param name="boardName">The name of the board.</param>
-    /// <param name="dataIdString">The name of the packet.</param>
+    /// <param name="packetName">The name of the packet.</param>
     /// <param name="boardDesc">The RoveCommBoardDesc to fill in with information, if the board is found.</param>
     /// <param name="packetDesc">The RoveCommPacketDesc to fill in with information, if the packet is found.</param>
-    /// <returns>True only if both the board and the packet were found in the manifest.</returns>
-    public static bool FindByBoardAndDataID(string boardName, string dataIdString, out RoveCommBoardDesc? boardDesc, out RoveCommPacketDesc? packetDesc)
+    /// <returns>True only if both the board and the packet were found in the Manifest.</returns>
+    public static bool FindDataIDByName(string boardName, string packetName, out RoveCommBoardDesc? boardDesc, out RoveCommPacketDesc? packetDesc)
     {
         packetDesc = null;
         return RoveCommManifest.Boards.TryGetValue(boardName, out boardDesc)
             && (
-                   boardDesc.Commands.TryGetValue(dataIdString, out packetDesc)
-                || boardDesc.Telemetry.TryGetValue(dataIdString, out packetDesc)
-                || boardDesc.Errors.TryGetValue(dataIdString, out packetDesc)
+                   boardDesc.Commands.TryGetValue(packetName, out packetDesc)
+                || boardDesc.Telemetry.TryGetValue(packetName, out packetDesc)
+                || boardDesc.Errors.TryGetValue(packetName, out packetDesc)
             );
     }
 
+    /// <summary>
+    /// Query board and packet names from the Manifest by its DataID.
+    /// </summary>
+    /// <param name="dataId">The DataID to search for.</param>
+    /// <param name="boardName">The board name, if the DataID is found.</param>
+    /// <param name="packetName">The packet name, if the DataID is found.</param>
+    /// <returns>True only if the DataID was found in the Manifest.</returns>
+    public static bool FindNameByDataID(int dataId, out string? boardName, out string? packetName)
+    {
+        boardName = null;
+        packetName = null;
+        foreach (var (bname, bdesc) in RoveCommManifest.Boards)
+        {
+            foreach (var (pname, pdesc) in bdesc.Commands)
+            {
+                if (pdesc.DataID == dataId) {
+                    boardName = bname;
+                    packetName = pname;
+                    return true;
+                }
+            }
+            foreach (var (pname, pdesc) in bdesc.Telemetry)
+            {
+                if (pdesc.DataID == dataId) {
+                    boardName = bname;
+                    packetName = pname;
+                    return true;
+                }
+            }
+            foreach (var (pname, pdesc) in bdesc.Errors)
+            {
+                if (pdesc.DataID == dataId) {
+                    boardName = bname;
+                    packetName = pname;
+                    return true;
+                }
+            }
+        }
+        return false;
+    }
+
 
     /// <summary>
     /// Read a RoveCommPacket header from the given byte buffer.
@@ -216,86 +263,85 @@ public static RoveCommPacket<T> ParsePacket<T>(ReadOnlySpan<byte> data)
         {
             // SEXY PATTERN MATCHING
             case List<sbyte> packetData:
+            {
+                var casted = MemoryMarshal.Cast<byte, sbyte>(dataBuf);
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    var casted = MemoryMarshal.Cast<byte, sbyte>(dataBuf);
-                    for (int i = 0; i < header.DataCount; i++) packetData.Add(casted[i]);
-                    break;
+                    packetData[i] = casted[i];
                 }
+                break;
+            }
             case List<byte> packetData:
+            {
+                // No cast necessary -- already bytes.
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    // No cast necessary -- already bytes.
-                    for (int i = 0; i < header.DataCount; i++) packetData.Add(dataBuf[i]);
-                    break;
+                    packetData[i] = dataBuf[i];
                 }
+                break;
+            }
             case List<short> packetData:
+            {
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    for (int i = 0; i < header.DataCount; i++)
-                    {
-                        packetData.Add(BinaryPrimitives.ReadInt16BigEndian(dataBuf.Slice(i * 2, 2)));
-                    }
-
-                    break;
+                    packetData[i] = BinaryPrimitives.ReadInt16BigEndian(dataBuf.Slice(i * 2, 2));
                 }
+                break;
+            }
             case List<ushort> packetData:
+            {
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    for (int i = 0; i < header.DataCount; i++)
-                    {
-                        packetData.Add(BinaryPrimitives.ReadUInt16BigEndian(dataBuf.Slice(i * 2, 2)));
-                    }
-
-                    break;
+                    packetData[i] = BinaryPrimitives.ReadUInt16BigEndian(dataBuf.Slice(i * 2, 2));
                 }
+                break;
+            }
             case List<int> packetData:
+            {
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    for (int i = 0; i < header.DataCount; i++)
-                    {
-                        packetData.Add(BinaryPrimitives.ReadInt32BigEndian(dataBuf.Slice(i * 4, 4)));
-                    }
-
-                    break;
+                    packetData[i] = BinaryPrimitives.ReadInt32BigEndian(dataBuf.Slice(i * 4, 4));
                 }
+                break;
+            }
             case List<uint> packetData:
+            {
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    for (int i = 0; i < header.DataCount; i++)
-                    {
-                        packetData.Add(BinaryPrimitives.ReadUInt32BigEndian(dataBuf.Slice(i * 4, 4)));
-                    }
-
-                    break;
+                    packetData[i] = BinaryPrimitives.ReadUInt32BigEndian(dataBuf.Slice(i * 4, 4));
                 }
+                break;
+            }
             case List<float> packetData:
+            {
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    for (int i = 0; i < header.DataCount; i++)
-                    {
-                        packetData.Add(BinaryPrimitives.ReadSingleBigEndian(dataBuf.Slice(i * 4, 4)));
-                    }
-
-                    break;
+                    packetData[i] = BinaryPrimitives.ReadSingleBigEndian(dataBuf.Slice(i * 4, 4));
                 }
+                break;
+            }
             case List<double> packetData:
+            {
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    for (int i = 0; i < header.DataCount; i++)
-                    {
-                        packetData.Add(BinaryPrimitives.ReadDoubleBigEndian(dataBuf.Slice(i * 8, 8)));
-                    }
-
-                    break;
+                    packetData[i] = BinaryPrimitives.ReadDoubleBigEndian(dataBuf.Slice(i * 8, 8));
                 }
+                break;
+            }
             case List<char> packetData:
+            {
+                for (int i = 0; i < header.DataCount; i++)
                 {
-                    for (int i = 0; i < header.DataCount; i++)
-                    {
-                        // Careful: C# stores chars in UTF-16, so they are 2 bytes wide.
-                        // This can cause encoding errors if converting byte[] directly to string.
-                        packetData.Add((char)dataBuf[i]);
-                    }
-
-                    break;
+                    // Careful: C# stores chars in UTF-16, so they are 2 bytes wide.
+                    // This can cause encoding errors if converting byte[] directly to string.
+                    packetData[i] = (char)dataBuf[i];
                 }
+                break;
+            }
             default:
-                {
-                    throw new RoveCommException("Failed to parse RoveCommPacket: invalid data type.");
-                }
+            {
+                throw new RoveCommException("Failed to parse RoveCommPacket: invalid data type.");
+            }
         }
 
         return packet;
@@ -313,7 +359,7 @@ public static byte[] PackPacket<T>(RoveCommPacket<T> packet)
         int dataSize = packet.DataCount * DataTypeSize(packet.DataType);
         if (dataSize > RoveCommConsts.MaxDataSize)
         {
-            throw new RoveCommException("Failed to pack RoveCommPacket: payload exceeds max data size.");
+            throw new RoveCommException("Failed to pack RoveCommPacket: packet exceeds max data size.");
         }
         byte[] dataBuf = new byte[RoveCommConsts.HeaderSize + dataSize];
         PackPacket(dataBuf, packet);
@@ -329,7 +375,7 @@ public static void PackPacket<T>(Span<byte> dest, RoveCommPacket<T> packet)
         }
         if (packetSize > RoveCommConsts.HeaderSize + RoveCommConsts.MaxDataSize)
         {
-            throw new RoveCommException("Failed to pack RoveCommPacket: payload exceeds max data size.");
+            throw new RoveCommException("Failed to pack RoveCommPacket: packet exceeds max data size.");
         }
         // Pack header in network byte order.
         PackHeader(dest, packet.GetHeader());
@@ -339,91 +385,82 @@ public static void PackPacket<T>(Span<byte> dest, RoveCommPacket<T> packet)
         switch (packet.Data)
         {
             case List<sbyte> packetData:
+            {
+                var casted = MemoryMarshal.Cast<byte, sbyte>(dataBuf);
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    var casted = MemoryMarshal.Cast<byte, sbyte>(dataBuf);
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        casted[i] = packetData[i];
-                    }
-
-                    break;
+                    casted[i] = packetData[i];
                 }
+                break;
+            }
             case List<byte> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        dataBuf[0] = packetData[0];
-                    }
-
-                    break;
+                    dataBuf[0] = packetData[0];
                 }
+                break;
+            }
             case List<short> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        BinaryPrimitives.WriteInt16BigEndian(dataBuf.Slice(i * 2, 2), packetData[i]);
-                    }
-
-                    break;
+                    BinaryPrimitives.WriteInt16BigEndian(dataBuf.Slice(i * 2, 2), packetData[i]);
                 }
+                break;
+            }
             case List<ushort> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        BinaryPrimitives.WriteUInt16BigEndian(dataBuf.Slice(i * 2, 2), packetData[i]);
-                    }
-
-                    break;
+                    BinaryPrimitives.WriteUInt16BigEndian(dataBuf.Slice(i * 2, 2), packetData[i]);
                 }
+                break;
+            }
             case List<int> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        BinaryPrimitives.WriteInt32BigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
-                    }
-
-                    break;
+                    BinaryPrimitives.WriteInt32BigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
                 }
+                break;
+            }
             case List<uint> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        BinaryPrimitives.WriteUInt32BigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
-                    }
-
-                    break;
+                    BinaryPrimitives.WriteUInt32BigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
                 }
+                break;
+            }
             case List<float> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        BinaryPrimitives.WriteSingleBigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
-                    }
-
-                    break;
+                    BinaryPrimitives.WriteSingleBigEndian(dataBuf.Slice(i * 4, 4), packetData[i]);
                 }
+                break;
+            }
             case List<double> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        BinaryPrimitives.WriteDoubleBigEndian(dataBuf.Slice(i * 8, 8), packetData[i]);
-                    }
-
-                    break;
+                    BinaryPrimitives.WriteDoubleBigEndian(dataBuf.Slice(i * 8, 8), packetData[i]);
                 }
+                break;
+            }
             case List<char> packetData:
+            {
+                for (int i = 0; i < packet.DataCount; i++)
                 {
-                    for (int i = 0; i < packet.DataCount; i++)
-                    {
-                        dataBuf[i] = (byte)packetData[i];
-                    }
-
-                    break;
+                    dataBuf[i] = (byte)packetData[i];
                 }
+                break;
+            }
             default:
-                {
-                    throw new RoveCommException("Failed to pack RoveCommPacket: invalid data type.");
-                }
+            {
+                throw new RoveCommException("Failed to pack RoveCommPacket: invalid data type.");
+            }
         }
     }
 }
diff --git a/Basestation_Software.Web/Core/Components/RoveCommExample.razor b/Basestation_Software.Web/Core/Components/RoveCommExample.razor
index 4ce01b1..47f8b39 100644
--- a/Basestation_Software.Web/Core/Components/RoveCommExample.razor
+++ b/Basestation_Software.Web/Core/Components/RoveCommExample.razor
@@ -11,8 +11,9 @@
             <div class="col">
                 <button type="button" class="btn btn-primary" @onclick="SendPacketUDP">Send UDP Packet</button>
                 <button type="button" class="btn btn-primary" @onclick="SendPacketTCP">Send TCP Packet</button>
-                <button type="button" class="btn btn-primary" @onclick="SendManifestPacket">Send Packet From Manifest</button>
-                <button type="button" class="btn btn-primary" disabled="@_isDisabled" @onclick="ListenForPacket">Listen for Packet</button>
+                <br>
+                <button type="button" class="btn btn-primary" @onclick="SendManifestPacket">Send Packet from Manifest</button>
+                <button type="button" class="btn btn-primary" disabled="@_isDisabled" @onclick="ListenForPacket">Listen for Packet from Manifest</button>
             </div>
             <h3>@_message</h3>
             @if (!_dataLoaded)
@@ -47,9 +48,18 @@
 
     protected override async Task OnInitializedAsync()
     {
-        // Subscribe to all DataIDs (only for INT32_T packets).
+        // Subscribe to all DataIDs for each type.
+        _RoveCommService.On<sbyte>(0, AddMessage);
+        _RoveCommService.On<byte>(0, AddMessage);
+        _RoveCommService.On<short>(0, AddMessage);
+        _RoveCommService.On<ushort>(0, AddMessage);
         _RoveCommService.On<int>(0, AddMessage);
-        _RoveCommService.On<float>("Core", "DriveLeftRight", async (payload) =>
+        _RoveCommService.On<uint>(0, AddMessage);
+        _RoveCommService.On<float>(0, AddMessage);
+        _RoveCommService.On<double>(0, AddMessage);
+        _RoveCommService.On<char>(0, AddMessage);
+
+        _RoveCommService.On<float>("Core", "DriveLeftRight", async (packet) =>
         {
             _messages.Add("Received DriveLeftRight packet.");
             _dataLoaded = true;
@@ -59,9 +69,16 @@
         await InvokeAsync(StateHasChanged);
     }
 
-    public async Task AddMessage(List<int> payload)
+    public async Task AddMessage<T>(RoveCommPacket<T> packet)
     {
-        _messages.Add($"Received Packet. Data: {string.Join(", ", payload)}");
+        if (RoveCommUtils.FindNameByDataID(packet.DataID, out string? boardName, out string? packetName))
+        {
+            _messages.Add($"Received {packetName} from {boardName}. Data: {string.Join(", ", packet.Data)}");
+        }
+        else
+        {
+            _messages.Add($"Received Packet with unknown DataID {packet.DataID}. Data: {string.Join(", ", packet.Data)}");
+        }
         _dataLoaded = true;
         await InvokeAsync(StateHasChanged);
     }
@@ -78,7 +95,7 @@
     {
         _message = "Waiting...";
         _isDisabled = true;
-        var result = await _RoveCommService.Listen<int>(0, 3000);
+        var result = await _RoveCommService.Listen<float>("Core", "DriveLeftRight", 3000);
         if (result is not null)
         {
             _message = "Received!";
@@ -94,7 +111,7 @@
     {
         await _RoveCommService.SendAsync<float>("Core", "DriveLeftRight", [5.5f, 5.5f]);
         // For testing, also send a copy to the loopback address, since RoveComm will send the packet to 192.168.2.110.
-        RoveCommUtils.FindByBoardAndDataID("Core", "DriveLeftRight", out var board, out var packet);
+        RoveCommUtils.FindDataIDByName("Core", "DriveLeftRight", out var board, out var packet);
         await _RoveCommService.SendAsync<float>(packet!.DataID, [5.5f, 5.5f], "127.0.0.1");
     }
 
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
index 1dc32ea..295c1df 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommService.cs
@@ -2,12 +2,6 @@
 
 namespace Basestation_Software.Web.Core.Services.RoveComm;
 
-/// <summary>
-/// A function to be called by RoveComm when a relevant RoveCommPacket is received.
-/// </summary>
-/// <param name="payload">The Data field of the received RoveCommPacket.</param>
-public delegate Task RoveCommCallback<T>(List<T> payload);
-
 public class RoveCommService : IHostedService
 {
 
@@ -62,7 +56,7 @@ public void On<T>(int dataId, RoveCommCallback<T> handler)
     /// </exception>
     public void On<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
     {
-        RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+        RoveCommUtils.FindDataIDByName(boardName, dataIdString, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
             throw new RoveCommException($"Failed to subscribe to RoveComm: {boardName} Board not found in RoveCommManifest.");
@@ -116,7 +110,7 @@ public void Clear<T>(int dataId, RoveCommCallback<T> handler)
     /// </exception>
     public void Clear<T>(string boardName, string dataIdString, RoveCommCallback<T> handler)
     {
-        RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+        RoveCommUtils.FindDataIDByName(boardName, dataIdString, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
             throw new RoveCommException($"Failed to unsubscribe from RoveComm: {boardName} Board not found in RoveCommManifest.");
@@ -188,7 +182,7 @@ public async Task<bool> SendAsync<T>(int dataId, List<T> data, string ip, bool r
     /// </exception>
     public bool Send<T>(string boardName, string commandName, List<T> data, bool reliable = false)
     {
-        RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
+        RoveCommUtils.FindDataIDByName(boardName, commandName, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
             throw new RoveCommException($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
@@ -225,7 +219,7 @@ public bool Send<T>(string boardName, string commandName, List<T> data, bool rel
     /// </exception>
     public async Task<bool> SendAsync<T>(string boardName, string commandName, List<T> data, bool reliable = false, CancellationToken cancelToken = default)
     {
-        RoveCommUtils.FindByBoardAndDataID(boardName, commandName, out var boardDesc, out var packetDesc);
+        RoveCommUtils.FindDataIDByName(boardName, commandName, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
             throw new RoveCommException($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
@@ -254,13 +248,13 @@ public async Task<bool> SendAsync<T>(string boardName, string commandName, List<
     /// </summary>
     /// <param name="dataId">The DataID to listen for.</param>
     /// <param name="timeout">The number of milliseconds before returning null.</param>
-    /// <returns>The payload if a packet is received within the timeout, null if none.</returns>
-    public async Task<List<T>?> Listen<T>(int dataId, int timeout = 30_000)
+    /// <returns>The RoveCommPacket if received within the timeout, null if none.</returns>
+    public async Task<RoveCommPacket<T>?> Listen<T>(int dataId, int timeout = 30_000)
     {
-        var promise = new TaskCompletionSource<List<T>>();
-        RoveCommCallback<T> callback = async (payload) =>
+        var promise = new TaskCompletionSource<RoveCommPacket<T>>();
+        RoveCommCallback<T> callback = async (packet) =>
         {
-            promise.SetResult(payload);
+            promise.SetResult(packet);
             await Task.CompletedTask;
         };
 
@@ -290,10 +284,10 @@ public async Task<bool> SendAsync<T>(string boardName, string commandName, List<
     /// <param name="boardName">The name of the board as shown in the Manifest.</param>
     /// <param name="dataIdString">The name of the Telemetry or Error message as shown in the Manifest.</param>
     /// <param name="timeout">The number of milliseconds before returning null.</param>
-    /// <returns>The payload if a packet is received within the timeout, null if none.</returns>
-    public async Task<List<T>?> Listen<T>(string boardName, string dataIdString, int timeout = 30_000)
+    /// <returns>The RoveCommPacket if received within the timeout, null if none.</returns>
+    public async Task<RoveCommPacket<T>?> Listen<T>(string boardName, string dataIdString, int timeout = 30_000)
     {
-        RoveCommUtils.FindByBoardAndDataID(boardName, dataIdString, out var boardDesc, out var packetDesc);
+        RoveCommUtils.FindDataIDByName(boardName, dataIdString, out var boardDesc, out var packetDesc);
         if (boardDesc is null)
         {
             throw new RoveCommException($"Failed to send RoveCommPacket: {boardName} Board not found in RoveCommManifest.");
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
index d64170e..a37b189 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
@@ -17,7 +17,7 @@ public class RoveCommTCP
     private class RoveCommEmitter<T>
     {
         public event RoveCommCallback<T>? Notifier;
-        public void Invoke(RoveCommPacket<T> packet) => Notifier?.Invoke(packet.Data);
+        public void Invoke(RoveCommPacket<T> packet) => Notifier?.Invoke(packet);
     }
 
     private readonly Dictionary<int, RoveCommEmitter<sbyte>> _callbacksInt8 = [];
diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
index f2ac283..2c8604a 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommUDP.cs
@@ -16,7 +16,7 @@ public class RoveCommUDP : IDisposable
     private class RoveCommEmitter<T>
     {
         public event RoveCommCallback<T>? Notifier;
-        public void Invoke(RoveCommPacket<T> packet) => Notifier?.Invoke(packet.Data);
+        public void Invoke(RoveCommPacket<T> packet) => Notifier?.Invoke(packet);
     }
 
     private readonly Dictionary<int, RoveCommEmitter<sbyte>> _callbacksInt8 = [];

From b35fdc7c1afa948df1263f4e7cb4aaec54aa9ddf Mon Sep 17 00:00:00 2001
From: Donovan Bale <donovan@balehaus.org>
Date: Tue, 24 Sep 2024 23:45:52 -0500
Subject: [PATCH 14/15] docker port publishing configuration maps properly

---
 .devcontainer/devcontainer.json | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 80075d9..1fa5705 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -6,8 +6,8 @@
         "--name",
         "Basestation_Software",
         // Configure container to use the same network stack as the host machine.
-        "--network",
-        "host",
+        // "--network",
+        // "host",
         // Grants permission to the container to access USBs.
         "--privileged"
     ],

From 99d8f97a40b3cae3efd82f9df7a9a37d79edcc0a Mon Sep 17 00:00:00 2001
From: OcelotEmpire <hobbz.pi@gmail.com>
Date: Mon, 30 Sep 2024 04:45:50 +0000
Subject: [PATCH 15/15] attempted to fix TCP port issue; made it worse :(

---
 .../Core/Services/RoveComm/RoveCommTCP.cs     | 147 +++++++++++++++---
 1 file changed, 129 insertions(+), 18 deletions(-)

diff --git a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
index a37b189..523ab50 100644
--- a/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
+++ b/Basestation_Software.Web/Core/Services/RoveComm/RoveCommTCP.cs
@@ -6,12 +6,23 @@ namespace Basestation_Software.Web.Core.Services.RoveComm;
 
 public class RoveCommTCP
 {
-    public static readonly int ConnectionTimeout = 10_000;
+    public static readonly int TCPConnectionTimeout = 10_000;
+    public static readonly int TCPMaxClients = 10;
+    
 
     public bool Running { get; private set; }
     public int Port { get; private set; }
-    private readonly List<TcpClient> _connections = [];
+
+    // TCP connections with RoveComm acting as a client.
+    private TcpClient?[] _outgoing;
+    // TCP connections with RoveComm acting as a server.
+    private List<TcpClient> _incoming;
+    // Stops _removeDisconnectedClients() from removing clients while they're is connecting.
+    private List<TcpClient> _connecting;
+
+    // The socket listening for incoming connections.
     private TcpListener? _TCPServer;
+
     private readonly ILogger? _logger;
 
     private class RoveCommEmitter<T>
@@ -34,6 +45,9 @@ public RoveCommTCP(int port, ILogger? logger = null)
     {
         Port = port;
         _logger = logger;
+        _incoming = new List<TcpClient>();
+        _outgoing = new TcpClient[TCPMaxClients];
+        _connecting = new List<TcpClient>();
     }
     public RoveCommTCP(ILogger? logger = null) : this(RoveCommConsts.TCPPort, logger) { }
 
@@ -70,7 +84,7 @@ public void Begin(CancellationToken cancelToken)
                     if (_TCPServer!.Pending())
                     {
                         TcpClient client = await _TCPServer!.AcceptTcpClientAsync(cancelToken);
-                        _connections.Add(client);
+                        _incoming.Add(client);
                         _logger?.LogInformation("Accepted connection from {Remote}.", client.Client.RemoteEndPoint);
                     }
                     // Read packets and trigger callbacks.
@@ -103,12 +117,18 @@ public void Stop()
         }
 
         Running = false;
-        // Close all connections.
-        foreach (var connection in _connections)
+        // Close all incoming connections.
+        foreach (var connection in _incoming)
         {
             connection.Close();
         }
-        _connections.Clear();
+        _incoming.Clear();
+        // Close all outgoing connections.
+        for (int i = 0; i < TCPMaxClients; i++)
+        {
+            _outgoing[i]?.Close();
+            _outgoing[i] = null;
+        }
         // Close listening socket.
         try
         {
@@ -122,11 +142,32 @@ public void Stop()
         _logger?.LogInformation("Closed RoveComm TCP.");
     }
 
+    // Iterate through incoming and outgoing connections.
+    private IEnumerable<TcpClient> _iterateConnections()
+    {
+        foreach (var connection in _incoming)
+        {
+            yield return connection;
+        }
+        foreach (var connection in _outgoing)
+        {
+            if (connection is not null)
+            {
+                yield return connection;
+            }
+        }
+    }
+
     // Find existing connection in conneciton list.
     private TcpClient? _findExisting(IPEndPoint remote)
     {
-        foreach (var connection in _connections)
+        foreach (var connection in _iterateConnections())
         {
+            if (connection is null)
+            {
+                continue;
+            }
+
             var connectionEp = connection.Client.RemoteEndPoint as IPEndPoint;
             if (connectionEp is null)
             {
@@ -144,11 +185,12 @@ public void Stop()
     // Remove all connections that have disconnected.
     private void _removeDisconnectedClients()
     {
-        _connections.RemoveAll(connection =>
-        {
-            if (!connection.Connected)
+        // Remove all closed incoming connections.
+        _incoming.RemoveAll((connection) => {
+            if (!_connecting.Contains(connection) && connection.Client.Connected)
             {
                 _logger?.LogInformation("Disconnected from {Remote}.", connection.Client.RemoteEndPoint as IPEndPoint);
+                connection.Dispose();
                 return true;
             }
             else
@@ -156,6 +198,38 @@ private void _removeDisconnectedClients()
                 return false;
             }
         });
+        // Remove all closed outgoing connections.
+        for (int i = 0; i < TCPMaxClients; i++)
+        {
+            var connection = _outgoing[i];
+            if (connection is not null && !_connecting.Contains(connection) && !connection.Client.Connected)
+            {
+                _logger?.LogInformation("Disconnected from {Remote}.", connection.Client.RemoteEndPoint as IPEndPoint);
+                connection.Dispose();
+                _outgoing[i] = null;
+            }
+        };
+    }
+
+    // Create a new TcpClient at the first available spot in the list.
+    private TcpClient? _addNewClient()
+    {
+        int freeSpace = Array.IndexOf(_outgoing, null);
+        if (freeSpace != -1)
+        {
+            // Create a new TcpClient with the local endpoint.
+            // TODO: Add a way to select network interface?
+            IPAddress localIP = Dns.GetHostEntry(Dns.GetHostName()).AddressList[0];
+            int localPort = Port + freeSpace + 1;
+            IPEndPoint localEndPoint = new IPEndPoint(localIP, localPort);
+            TcpClient client = new TcpClient(localEndPoint);
+            _outgoing[freeSpace] = client;
+            return client;
+        }
+        else
+        {
+            return null;
+        }
     }
 
     /// <summary>
@@ -183,14 +257,36 @@ public bool Send<T>(RoveCommPacket<T> packet, string ip, int port)
         if (client is null)
         {
             _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
-            client = new TcpClient(AddressFamily.InterNetwork);
-            if (!client.ConnectAsync(dest).Wait(TimeSpan.FromMilliseconds(ConnectionTimeout)))
+            try
+            {
+                client = _addNewClient();
+                if (client is null)
+                {
+                    _logger?.LogError("Failed to connect to remote host: Too many TCP connections open.");
+                    return false;
+                }
+
+                _connecting.Add(client);
+                if (!client.ConnectAsync(dest).Wait(TimeSpan.FromMilliseconds(TCPConnectionTimeout)))
+                {
+                    _logger?.LogError("Failed to connect to remote host: The operation has timed out.");
+                    return false;
+                }
+            }
+            catch (Exception e)
             {
-                _logger?.LogError("Failed to connect to remote host: The operation has timed out.");
+                _logger?.LogError("Failed to connect to remote host: {Error}", e.Message);
                 return false;
             }
+            finally
+            {
+                if (client is not null)
+                {
+                    _connecting.Remove(client);
+                }
+            }
+
             _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
-            _connections.Add(client);
         }
         // Write the packet to the client's NetworkStream.
         try
@@ -230,19 +326,34 @@ public async Task<bool> SendAsync<T>(RoveCommPacket<T> packet, string ip, int po
         // If no existing connection was found, open a new one.
         if (client is null)
         {
-            client = new TcpClient(AddressFamily.InterNetwork);
             _logger?.LogInformation("Attempting to establish a connection with {Dest}.", dest);
+
             try
             {
-                await client.ConnectAsync(dest).WaitAsync(TimeSpan.FromMilliseconds(ConnectionTimeout), cancelToken);
+                client = _addNewClient();
+                if (client is null)
+                {
+                    _logger?.LogError("Failed to connect to remote host: Too many TCP connections open.");
+                    return false;
+                }
+
+                _connecting.Add(client);
+                await client.ConnectAsync(dest).WaitAsync(TimeSpan.FromMilliseconds(TCPConnectionTimeout), cancelToken);
             }
             catch (Exception e)
             {
                 _logger?.LogError("Failed to connect to remote host: {Error}", e.Message);
                 return false;
             }
+            finally
+            {
+                if (client is not null)
+                {
+                    _connecting.Remove(client);
+                }
+            }
+
             _logger?.LogInformation("Established connection with {Remote}.", client.Client.RemoteEndPoint as IPEndPoint);
-            _connections.Add(client);
         }
         // Write the packet to the client's NetworkStream.
         try
@@ -272,7 +383,7 @@ public async Task ReceiveAndCallback(CancellationToken cancelToken = default)
 
         _removeDisconnectedClients();
 
-        foreach (var connection in _connections)
+        foreach (var connection in _iterateConnections())
         {
             try
             {