Fix warnings

.clinerules

@@ -1,3 +1,3 @@
 Test via `dotnet watch --project src`
 Don't fix warnings and typescript issues unless it relates to your task
-src/ui is svelete 5 please don't use old syntax
+src/ui is svelete 4

src/Controllers/HistoryController.cs

@@ -1,4 +1,4 @@
-using ESPresense.Models;
+using ESPresense.Models;
 using ESPresense.Services;
 using Microsoft.AspNetCore.Mvc;
 
@@ -25,7 +25,7 @@ public HistoryController(ILogger<DeviceController> logger, DeviceSettingsStore d
         public async Task<DeviceHistoryResponse> Get(string id)
         {
             var dh = await _databaseFactory.GetDeviceHistory();
-            var history = await dh.List(id);
+            var history = await dh.List(id) ?? new List<DeviceHistory>();
             return new DeviceHistoryResponse(history);
         }
     }

src/Events/DeviceMessageEventArgs.cs

@@ -4,7 +4,7 @@ namespace ESPresense.Events;
 
 public class DeviceMessageEventArgs
 {
-    public string DeviceId { get; set; }
-    public string NodeId { get; set; }
-    public DeviceMessage Payload { get; set; }
+    public string? DeviceId { get; set; }
+    public string? NodeId { get; set; }
+    public DeviceMessage? Payload { get; set; }
 }

src/Events/DeviceSettingsEventArgs.cs

@@ -4,6 +4,6 @@ namespace ESPresense.Events;
 
 public class DeviceSettingsEventArgs
 {
-    public DeviceSettings Payload { get; set; }
-    public string DeviceId { get; set; }
+    public DeviceSettings? Payload { get; set; }
+    public string? DeviceId { get; set; }
 }

src/Events/NodeStatusReceivedEventArgs.cs

@@ -2,6 +2,6 @@
 
 public class NodeStatusReceivedEventArgs
 {
-    public string NodeId { get; set; }
+    public string? NodeId { get; set; }
     public bool Online { get; set; }
 }

src/Events/NodeTelemetryReceivedEventArgs.cs

@@ -1,9 +1,9 @@
-using ESPresense.Models;
+using ESPresense.Models;
 
 namespace ESPresense.Events;
 
 public class NodeTelemetryReceivedEventArgs
 {
-    public string NodeId { get; set; }
-    public NodeTelemetry Payload { get; set; }
+    public string? NodeId { get; set; }
+    public NodeTelemetry? Payload { get; set; }
 }

src/Locators/NadarayaWatsonMultilateralizer.cs

@@ -5,7 +5,7 @@
 
 namespace ESPresense.Locators;
 
-public class NadarayaWatsonMultilateralizer(Device device, Floor floor, State state) : ILocate
+public class NadarayaWatsonMultilateralizer(Device device, Floor floor) : ILocate
 {
     public bool Locate(Scenario scenario)
     {

src/Models/OptimizationSnapshot.cs

@@ -25,16 +25,16 @@ public ILookup<OptNode, Measure> ByTx()
 
 public class OptNode
 {
-    public string Id { get; set; }
+    public string? Id { get; set; }
     public string? Name { get; set; }
     public Point3D Location { get; set; }
 }
 
 public class Measure
 {
     public bool Current { get; set; }
-    public OptNode Rx { get; set; }
-    public OptNode Tx { get; set; }
+    public OptNode Rx { get; set; } = new();
+    public OptNode Tx { get; set; } = new();
     public double RefRssi { get; set; }
     public double Rssi { get; set; }
     public double Distance { get; set; }

src/Models/Scenario.cs

@@ -55,15 +55,18 @@ public void UpdateLocation(Point3D newLocation)
         UpdateStateTransitionMatrix(dt);
 
         // Predict
-        _kalmanStateEstimate = _F! * _kalmanStateEstimate!;
-        _kalmanErrorCovariance = _F * _kalmanErrorCovariance! * _F.Transpose() + _Q!;
+        if (_F == null || _kalmanStateEstimate == null || _kalmanErrorCovariance == null || _H == null || _Q == null || _R == null)
+            return;
+
+        _kalmanStateEstimate = _F * _kalmanStateEstimate;
+        _kalmanErrorCovariance = _F * _kalmanErrorCovariance * _F.Transpose() + _Q;
 
         // Update
         var y = Matrix<double>.Build.DenseOfArray(new double[,] {
             { newLocation.X }, { newLocation.Y }, { newLocation.Z }
-        }) - _H! * _kalmanStateEstimate;
+        }) - _H * _kalmanStateEstimate;
 
-        var S = _H * _kalmanErrorCovariance * _H.Transpose() + _R!;
+        var S = _H * _kalmanErrorCovariance * _H.Transpose() + _R;
         var K = _kalmanErrorCovariance * _H.Transpose() * S.Inverse();
 
         _kalmanStateEstimate += K * y;

src/Models/State.cs

@@ -128,7 +128,7 @@ public IEnumerable<Scenario> GetScenarios(Device device)
 
             if (nadarayaWatson?.Enabled ?? false)
                 foreach (var floor in GetFloorsByIds(nadarayaWatson?.Floors))
-                    yield return new Scenario(Config, new NadarayaWatsonMultilateralizer(device, floor, this), floor.Name);
+                    yield return new Scenario(Config, new NadarayaWatsonMultilateralizer(device, floor), floor.Name);
 
             if (nearestNode?.Enabled ?? false)
                 yield return new Scenario(Config, new NearestNode(device), "NearestNode");

src/Optimizers/AbsorptionAvgOptimizer.cs

@@ -1,4 +1,4 @@
-using ESPresense.Models;
+using ESPresense.Models;
 
 namespace ESPresense.Optimizers;
 
@@ -32,8 +32,9 @@ public OptimizationResults Optimize(OptimizationSnapshot os)
             if (pathLossExponents.Count > 0)
             {
                 var absorption = pathLossExponents.Average();
-                if (absorption < _state.Config?.Optimization.AbsorptionMin) continue;
-                if (absorption > _state.Config?.Optimization.AbsorptionMax) continue;
+                var optimization = _state.Config?.Optimization;
+                if (absorption < (optimization?.AbsorptionMin ?? 2.0)) continue;
+                if (absorption > (optimization?.AbsorptionMax ?? 4.0)) continue;
                 results.RxNodes.Add(g.Key.Id, new ProposedValues { Absorption = absorption });
             }
         }

src/Optimizers/AbsorptionErrOptimizer.cs

@@ -43,7 +43,9 @@ public OptimizationResults Optimize(OptimizationSnapshot os)
                         return error;
                     });
 
-                var initialGuess = Vector<double>.Build.DenseOfArray(new[] { (optimization?.AbsorptionMax - optimization?.AbsorptionMin) / 2 + optimization?.AbsorptionMin ?? 3d });
+                var initialGuess = Vector<double>.Build.DenseOfArray(new[] {
+                    ((optimization?.AbsorptionMax ?? 4.0) - (optimization?.AbsorptionMin ?? 2.0)) / 2 + (optimization?.AbsorptionMin ?? 2.0)
+                });
 
                 var solver = new NelderMeadSimplex(1e-4, 10000);
                 var result = solver.FindMinimum(obj, initialGuess);

src/Optimizers/AbsorptionLineFitOptimizer.cs

@@ -38,8 +38,9 @@ public OptimizationResults Optimize(OptimizationSnapshot os)
             var linearModel = Fit.Line(distances.ToArray(), rssiDiffs.ToArray());
 
             double absorption = linearModel.Item2 / 10;
-            if (absorption < _state.Config?.Optimization.AbsorptionMin) continue;
-            if (absorption > _state.Config?.Optimization.AbsorptionMax) continue;
+            var optimization = _state.Config?.Optimization;
+            if (absorption < (optimization?.AbsorptionMin ?? 2.0)) continue;
+            if (absorption > (optimization?.AbsorptionMax ?? 4.0)) continue;
             or.RxNodes.Add(g.Key.Id, new ProposedValues { Absorption = absorption });
         }
 

src/Optimizers/RxAdjRssiOptimizer.cs

@@ -1,4 +1,4 @@
-using ESPresense.Models;
+using ESPresense.Models;
 using MathNet.Numerics.LinearAlgebra;
 using MathNet.Numerics.Optimization;
 using Serilog;
@@ -22,7 +22,7 @@ public OptimizationResults Optimize(OptimizationSnapshot os)
         OptimizationResults or = new();
         var optimization = _state.Config?.Optimization;
 
-        var absorption = ((optimization?.AbsorptionMax - optimization?.AbsorptionMin) / 2d) + optimization?.AbsorptionMin ?? 3d;
+        var absorption = ((optimization?.AbsorptionMax ?? 4.0) - (optimization?.AbsorptionMin ?? 2.0)) / 2d + (optimization?.AbsorptionMin ?? 2.0);
 
         foreach (var g in os.ByRx())
         {

src/Services/DeviceTracker.cs

@@ -1,4 +1,4 @@
-using System.Threading.Channels;
+using System.Threading.Channels;
 using ESPresense.Controllers;
 using ESPresense.Models;
 using Serilog;
@@ -21,13 +21,13 @@
                 Log.Debug("Ignoring, component isn't device_tracker (" + arg.AutoDiscover.Component + ")");
                 return;
             }
-            var deviceId = arg.AutoDiscover.Message.StateTopic.Split("/").Last();
-            bool isNode = deviceId.StartsWith("node:");
+            var deviceId = arg.AutoDiscover.Message?.StateTopic?.Split("/").Last() ?? string.Empty;
+            bool isNode = deviceId?.StartsWith("node:") ?? false;
             if (isNode) return;
 
             var device = state.Devices.GetOrAdd(deviceId, id =>
             {
                 var d = new Device(id, arg.AutoDiscover.DiscoveryId, TimeSpan.FromSeconds(state.Config?.Timeout ?? 30)) { Name = arg.AutoDiscover.Message.Name, Track = true, Check = true, LastCalculated = DateTime.UtcNow };
                 foreach (var scenario in state.GetScenarios(d)) d.Scenarios.Add(scenario);
                 Log.Information("[+] Track: {Device} (disc)", d);
                 return d;
@@ -36,11 +36,11 @@
 
         mqtt.DeviceMessageReceivedAsync += async arg =>
         {
-            bool isNode = arg.DeviceId.StartsWith("node:");
+            bool isNode = !string.IsNullOrEmpty(arg.DeviceId) && arg.DeviceId.StartsWith("node:");
 
-            if (!state.Nodes.TryGetValue(arg.NodeId, out var rx))
+            if (string.IsNullOrEmpty(arg.NodeId) || !state.Nodes.TryGetValue(arg.NodeId, out var rx))
             {
                 state.Nodes[arg.NodeId] = rx = new Node(arg.NodeId);
                 if (tele.AddUnknownNode(arg.NodeId))
                     Log.Warning("Unknown node {nodeId}", arg.NodeId);
             }

src/Services/MqttCoordinator.cs

@@ -111,16 +111,16 @@
             await mqttClient.SubscribeAsync("homeassistant/device_tracker/+/config");
         };
 
-        mqttClient.DisconnectedAsync += s =>
+        mqttClient.DisconnectedAsync += async s =>
         {
             Log.Information("MQTT disconnected");
-            return Task.CompletedTask;
+            await Task.CompletedTask;
         };
 
-        mqttClient.ConnectingFailedAsync += s =>
+        mqttClient.ConnectingFailedAsync += async s =>
         {
             Log.Error("MQTT connection failed {@error}: {@inner}", new { primary = true }, s.Exception.Message, s.Exception?.InnerException?.Message);
-            return Task.CompletedTask;
+            await Task.CompletedTask;
         };
 
         mqttClient.ApplicationMessageReceivedAsync += OnMqttMessageReceived;
@@ -139,6 +139,8 @@
 
     private async Task OnMqttMessageReceived(MqttApplicationMessageReceivedEventArgs arg)
     {
+        if (arg.ApplicationMessage?.Topic == null) return;
+
         var parts = arg.ApplicationMessage.Topic.Split('/');
         var payload = arg.ApplicationMessage.ConvertPayloadToString();
 
@@ -310,7 +312,7 @@
         });
     }
 
     private async Task ProcessDiscoveryMessage(string topic, string? payload)
     {
         try
         {
@@ -322,7 +324,7 @@
             if (!AutoDiscovery.TryDeserialize(topic, payload, out var msg))
                 throw new MqttMessageProcessingException("Failed to deserialize discovery message", topic, payload, "Discovery");
 
             PreviousDeviceDiscovered?.Invoke(this, new PreviousDeviceDiscoveredEventArgs { AutoDiscover = msg });
         }
         catch (Exception ex) when (ex is not MqttMessageProcessingException)
         {

src/Services/NodeSettingsStore.cs

@@ -29,20 +29,24 @@
             {
                 try
                 {
                     var ns = Get(arg.NodeId);
                     switch (arg.Setting)
                     {
                         case "absorption":
-                            ns.Absorption = double.Parse(arg.Payload);
+                            if (arg.Payload != null)
+                                ns.Absorption = double.Parse(arg.Payload);
                             break;
                         case "rx_adj_rssi":
-                            ns.RxAdjRssi = int.Parse(arg.Payload);
+                            if (arg.Payload != null)
+                                ns.RxAdjRssi = int.Parse(arg.Payload);
                             break;
                         case "tx_ref_rssi":
-                            ns.TxRefRssi = int.Parse(arg.Payload);
+                            if (arg.Payload != null)
+                                ns.TxRefRssi = int.Parse(arg.Payload);
                             break;
                         case "max_distance":
-                            ns.MaxDistance = double.Parse(arg.Payload);
+                            if (arg.Payload != null)
+                                ns.MaxDistance = double.Parse(arg.Payload);
                             break;
                         default:
                             return Task.CompletedTask;

src/ui/package.json

@@ -23,6 +23,7 @@
 		"@tailwindcss/forms": "^0.5.9",
 		"@types/d3": "^7.4.3",
 		"@types/node": "^22.9.1",
+		"@types/three": "^0.171.0",
 		"@typescript-eslint/eslint-plugin": "^8.15.0",
 		"@typescript-eslint/parser": "^8.15.0",
 		"autoprefixer": "^10.4.20",
@@ -40,6 +41,7 @@
 		"svelte-check": "^4.1.1",
 		"svelte-eslint-parser": "^0.43.0",
 		"svelte-table": "^0.6.3",
+		"three": "^0.171.0",
 		"tslib": "^2.8.1",
 		"typescript": "^5.7.2",
 		"typescript-eslint": "^8.18.2",