Added javalin web server

build.gradle

@@ -96,6 +96,8 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
+    implementation "io.javalin:javalin:6.0.0"
+
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }

src/main/java/com/team1701/robot/Robot.java

@@ -4,13 +4,17 @@
 
 package com.team1701.robot;
 
+import java.nio.file.Paths;
 import java.util.Optional;
 
 import com.team1701.robot.Configuration.Mode;
 import edu.wpi.first.hal.AllianceStationID;
+import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import io.javalin.Javalin;
+import io.javalin.http.staticfiles.Location;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
@@ -91,7 +95,18 @@ private void initializeAdvantageKit() {
         // Start AdvantageKit logger
         setUseTiming(Configuration.getMode() != Configuration.Mode.REPLAY);
         Logger.start();
+
+        // Build robot container
         mRobotContainer = new RobotContainer();
+
+        // Launch web server
+        Javalin.create(config -> {
+                    config.staticFiles.add(
+                            Paths.get(Filesystem.getDeployDirectory().getAbsolutePath(), "web")
+                                    .toString(),
+                            Location.EXTERNAL);
+                })
+                .start(5800);
     }
 
     @Override

src/main/ts/dashboard/package.json

@@ -9,7 +9,7 @@
     "lint:ci": "eslint .",
     "dev": "vite",
     "build": "vite build",
-    "build:deploy": "DASHBOARD_OUT_DIR='../../deploy/web/dashboard' vite build",
+    "build:deploy": "DASHBOARD_BASE='dashboard' DASHBOARD_OUT_DIR='../../deploy/web/dashboard' vite build",
     "watch": "vite build --watch",
     "preview": "vite preview",
     "check": "svelte-check --tsconfig ./tsconfig.json"

src/main/ts/dashboard/vite.config.ts

@@ -1,8 +1,10 @@
 import { defineConfig } from 'vite';
 
 export default defineConfig({
+  base: process.env.DASHBOARD_BASE ?? '/',
   build: {
     outDir: process.env.DASHBOARD_OUT_DIR ?? 'dist',
+    emptyOutDir: true,
     chunkSizeWarningLimit: 1000,
     rollupOptions: {
       output: {