diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..d97a636
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,38 @@
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: ["*"]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          lfs: true
+
+      - run: make lint-ci
+      - run: make format-ci
+
+  build:
+    needs:
+      - lint
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          lfs: true
+
+      - uses: actions/cache@v3
+        with:
+          path: |
+            .swiftpm-packages
+          key: v0-${{ runner.os }}-swiftpm-${{ hashFiles('**/Package.resolved') }}
+          restore-keys: v0-${{ runner.os }}-swiftpm-
+
+      - run: make build
diff --git a/.swiftformat b/.swiftformat
new file mode 100644
index 0000000..574859b
--- /dev/null
+++ b/.swiftformat
@@ -0,0 +1,4 @@
+--swiftversion 5.7
+--indent 2
+--maxwidth 120
+--exclude WebSocketDemo-Shared/Schemas/foxglove
diff --git a/.swiftlint.yml b/.swiftlint.yml
new file mode 100644
index 0000000..81f458a
--- /dev/null
+++ b/.swiftlint.yml
@@ -0,0 +1,15 @@
+excluded:
+  - .build
+  - .swiftpm-packages
+  - WebSocketDemo-Shared/Schemas/foxglove
+
+disabled_rules:
+  - function_body_length
+  - type_body_length
+  - file_length
+  - cyclomatic_complexity
+  - identifier_name
+  - opening_brace # conflicts with swiftformat
+
+trailing_comma:
+  mandatory_comma: true
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..c8f56cd
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,24 @@
+.PHONY: build
+build:
+	# https://developer.apple.com/documentation/xcode/building-swift-packages-or-apps-that-use-them-in-continuous-integration-workflows
+	# https://stackoverflow.com/questions/4969932/separate-build-directory-using-xcodebuild
+	# https://forums.swift.org/t/swiftpm-with-git-lfs/42396/4
+	GIT_LFS_SKIP_DOWNLOAD_ERRORS=1 \
+	xcodebuild \
+		-disableAutomaticPackageResolution \
+		-clonedSourcePackagesDirPath .swiftpm-packages \
+		-destination generic/platform=iOS \
+		-scheme "Foxglove Bridge" \
+		SYMROOT="$(PWD)"/build \
+		CODE_SIGN_IDENTITY="" \
+		CODE_SIGNING_REQUIRED=NO \
+		-configuration Release \
+		clean build analyze
+
+.PHONY: lint-ci
+lint-ci:
+	docker run -t --platform linux/amd64 --rm -v "$(PWD)":/work -w /work ghcr.io/realm/swiftlint:0.53.0
+
+.PHONY: format-ci
+format-ci:
+	docker run -t --rm -v "$(PWD)":/work ghcr.io/nicklockwood/swiftformat:0.52.8 --lint /work
diff --git a/WebSocketDemo-Shared/CameraManager.swift b/WebSocketDemo-Shared/CameraManager.swift
index a39f345..f6c9d2f 100644
--- a/WebSocketDemo-Shared/CameraManager.swift
+++ b/WebSocketDemo-Shared/CameraManager.swift
@@ -1,8 +1,8 @@
 import AVFoundation
-import VideoToolbox
 import Combine
 import CoreImage
 import UIKit
+import VideoToolbox
 
 enum Camera: CaseIterable, Identifiable, CustomStringConvertible {
   case back
@@ -18,7 +18,7 @@ enum Camera: CaseIterable, Identifiable, CustomStringConvertible {
   }
 
   var id: Self {
-    return self
+    self
   }
 }
 
@@ -36,7 +36,7 @@ private func configureInputs(in session: AVCaptureSession, for camera: Camera) t
   for input in session.inputs {
     session.removeInput(input)
   }
-  
+
   let device: AVCaptureDevice?
   switch camera {
   case .back:
@@ -44,7 +44,6 @@ private func configureInputs(in session: AVCaptureSession, for camera: Camera) t
   case .front:
     device = .default(.builtInWideAngleCamera, for: .video, position: .front)
   }
-
   guard let device else {
     throw CameraError.noCameraDevice
   }
@@ -53,7 +52,7 @@ private func configureInputs(in session: AVCaptureSession, for camera: Camera) t
     let input = try AVCaptureDeviceInput(device: device)
     print("ranges: \(input.device.activeFormat.videoSupportedFrameRateRanges)")
     session.addInput(input)
-  } catch let error {
+  } catch {
     print("failed to create device input: \(error)")
   }
 }
@@ -70,26 +69,26 @@ class CameraManager: NSObject, ObservableObject {
   private var compressionSession: VTCompressionSession?
   private var videoOutput: AVCaptureVideoDataOutput?
   private var forceKeyFrame = true
-  
+
   let h264Frames = PassthroughSubject<Data, Never>()
   let jpegFrames = PassthroughSubject<Data, Never>()
   let calibrationData = PassthroughSubject<CalibrationData, Never>()
-  
+
   @Published var currentError: Error?
-  
+
   @Published var droppedFrames = 0
-  
+
   @Published var activeCamera: Camera = .back {
     didSet {
       print("set active camera \(activeCamera)")
       reconfigureSession()
     }
   }
-  
+
   private var _useVideoCompressionFlag: Int32 = 0
   public var useVideoCompression: Bool {
     get {
-      return OSAtomicAdd32(0, &_useVideoCompressionFlag) != 0
+      OSAtomicAdd32(0, &_useVideoCompressionFlag) != 0
     }
     set {
       if newValue {
@@ -97,36 +96,35 @@ class CameraManager: NSObject, ObservableObject {
       } else {
         OSAtomicTestAndClear(0, &_useVideoCompressionFlag)
       }
-      
+
       reconfigureSession()
     }
   }
-  
+
   override init() {
     super.init()
     useVideoCompression = true
   }
-  
+
   @MainActor
   func startCameraUpdates() {
     Task { @MainActor in
       droppedFrames = 0
     }
-    let activeCamera = self.activeCamera
-    
+    let activeCamera = activeCamera
+
     queue.async { [self] in
       let captureSession = AVCaptureSession()
-      
+
       do {
         try configureInputs(in: captureSession, for: activeCamera)
-      } catch let error {
+      } catch {
         print("error starting session: \(error)")
       }
       captureSession.sessionPreset = useVideoCompression ? .high : .medium
-      
-      
+
       let output = AVCaptureVideoDataOutput()
-      output.setSampleBufferDelegate(self, queue: self.queue)
+      output.setSampleBufferDelegate(self, queue: queue)
       captureSession.addOutput(output)
       if let connection = output.connection(with: .video) {
         print("intrinsic supported: \(connection.isCameraIntrinsicMatrixDeliverySupported)")
@@ -134,8 +132,8 @@ class CameraManager: NSObject, ObservableObject {
           connection.isCameraIntrinsicMatrixDeliveryEnabled = true
         }
       }
-      self.videoOutput = output
-      
+      videoOutput = output
+
       do {
         try createCompressionSession(for: output)
       } catch let err {
@@ -147,40 +145,40 @@ class CameraManager: NSObject, ObservableObject {
       Task { @MainActor in
         currentError = nil
       }
-      
+
       captureSession.startRunning()
       self.captureSession = captureSession
     }
   }
-  
+
   @MainActor
   func stopCameraUpdates() {
     queue.async(qos: .userInitiated) { [self] in
       captureSession?.stopRunning()
     }
   }
-  
+
   private func createCompressionSession(for output: AVCaptureVideoDataOutput) throws {
     if let compressionSession {
       VTCompressionSessionInvalidate(compressionSession)
       self.compressionSession = nil
     }
-    
+
     guard let width = output.videoSettings[kCVPixelBufferWidthKey as String] as? Int32,
           let height = output.videoSettings[kCVPixelBufferHeightKey as String] as? Int32
     else {
       throw CameraError.unknownSize
     }
-    
+
     var err: OSStatus
-    
+
     err = VTCompressionSessionCreate(
       allocator: kCFAllocatorDefault,
       width: width,
       height: height,
       codecType: kCMVideoCodecType_H264,
       encoderSpecification: [
-        kVTVideoEncoderSpecification_EnableLowLatencyRateControl: kCFBooleanTrue
+        kVTVideoEncoderSpecification_EnableLowLatencyRateControl: kCFBooleanTrue,
       ] as CFDictionary,
       imageBufferAttributes: nil,
       compressedDataAllocator: nil,
@@ -188,17 +186,21 @@ class CameraManager: NSObject, ObservableObject {
       refcon: nil,
       compressionSessionOut: &compressionSession
     )
-    guard err == noErr, let compressionSession = compressionSession else {
+    guard err == noErr, let compressionSession else {
       print("VTCompressionSessionCreate failed (\(err))")
       throw NSError(domain: NSOSStatusErrorDomain, code: Int(err))
     }
-    
-    err = VTSessionSetProperty(compressionSession, key: kVTCompressionPropertyKey_ProfileLevel, value: kVTProfileLevel_H264_Main_AutoLevel)
+
+    err = VTSessionSetProperty(
+      compressionSession,
+      key: kVTCompressionPropertyKey_ProfileLevel,
+      value: kVTProfileLevel_H264_Main_AutoLevel
+    )
     guard err == noErr else {
       print("VTSessionSetProperty(kVTCompressionPropertyKey_ProfileLevel) failed (\(err))")
       throw NSError(domain: NSOSStatusErrorDomain, code: Int(err))
     }
-    
+
     // Indicate that the compression session is in real time, which streaming
     // requires.
     err = VTSessionSetProperty(compressionSession, key: kVTCompressionPropertyKey_RealTime, value: kCFBooleanTrue)
@@ -207,30 +209,42 @@ class CameraManager: NSObject, ObservableObject {
       throw NSError(domain: NSOSStatusErrorDomain, code: Int(err))
     }
     // Enables temporal compression.
-    err = VTSessionSetProperty(compressionSession, key: kVTCompressionPropertyKey_AllowTemporalCompression, value: kCFBooleanTrue)
+    err = VTSessionSetProperty(
+      compressionSession,
+      key: kVTCompressionPropertyKey_AllowTemporalCompression,
+      value: kCFBooleanTrue
+    )
     guard err == noErr else {
       print("Warning: VTSessionSetProperty(kVTCompressionPropertyKey_AllowTemporalCompression) failed (\(err))")
       throw NSError(domain: NSOSStatusErrorDomain, code: Int(err))
     }
-    
+
     // Disable frame reordering
-    err = VTSessionSetProperty(compressionSession, key: kVTCompressionPropertyKey_AllowFrameReordering, value: kCFBooleanFalse)
+    err = VTSessionSetProperty(
+      compressionSession,
+      key: kVTCompressionPropertyKey_AllowFrameReordering,
+      value: kCFBooleanFalse
+    )
     guard err == noErr else {
       print("Warning: VTSessionSetProperty(kVTCompressionPropertyKey_AllowFrameReordering) failed (\(err))")
       throw NSError(domain: NSOSStatusErrorDomain, code: Int(err))
     }
 
     // Require key frames every 2 seconds
-    err = VTSessionSetProperty(compressionSession, key: kVTCompressionPropertyKey_MaxKeyFrameIntervalDuration, value: 2 as CFNumber)
+    err = VTSessionSetProperty(
+      compressionSession,
+      key: kVTCompressionPropertyKey_MaxKeyFrameIntervalDuration,
+      value: 2 as CFNumber
+    )
     guard err == noErr else {
       print("Warning: VTSessionSetProperty(kVTCompressionPropertyKey_MaxKeyFrameIntervalDuration) failed (\(err))")
       throw NSError(domain: NSOSStatusErrorDomain, code: Int(err))
     }
   }
-  
+
   private func reconfigureSession() {
-    let activeCamera = self.activeCamera
-    
+    let activeCamera = activeCamera
+
     queue.async(qos: .userInitiated) { [self] in
       guard let session = captureSession else {
         return
@@ -239,7 +253,7 @@ class CameraManager: NSObject, ObservableObject {
       session.beginConfiguration()
       do {
         try configureInputs(in: session, for: activeCamera)
-      } catch let error {
+      } catch {
         print("error changing session: \(error)")
       }
       session.sessionPreset = useVideoCompression ? .high : .medium
@@ -250,14 +264,15 @@ class CameraManager: NSObject, ObservableObject {
 }
 
 extension CameraManager: AVCaptureVideoDataOutputSampleBufferDelegate {
-  func captureOutput(_ output: AVCaptureOutput, didOutput sampleBuffer: CMSampleBuffer, from connection: AVCaptureConnection) {
+  func captureOutput(_: AVCaptureOutput, didOutput sampleBuffer: CMSampleBuffer, from _: AVCaptureConnection) {
     guard let imageBuffer = sampleBuffer.imageBuffer else {
       print("no image buffer :(")
       return
     }
-    
+
     if let matrixData = sampleBuffer.attachments[.cameraIntrinsicMatrix]?.value as? Data,
-       matrixData.count == MemoryLayout<matrix_float3x3>.size {
+       matrixData.count == MemoryLayout<matrix_float3x3>.size
+    {
       let matrix = matrixData.withUnsafeBytes { $0.load(as: matrix_float3x3.self) }
       let width = CVPixelBufferGetWidth(imageBuffer)
       let height = CVPixelBufferGetHeight(imageBuffer)
@@ -265,7 +280,7 @@ extension CameraManager: AVCaptureVideoDataOutputSampleBufferDelegate {
         calibrationData.send(CalibrationData(intrinsicMatrix: matrix, width: width, height: height))
       }
     }
-    
+
     if !useVideoCompression {
       let img = UIImage(ciImage: CIImage(cvImageBuffer: imageBuffer))
       guard let jpeg = img.jpegData(compressionQuality: 0.8) else {
@@ -277,30 +292,30 @@ extension CameraManager: AVCaptureVideoDataOutputSampleBufferDelegate {
       }
       return
     }
-    
+
     guard let compressionSession else {
       print("no compression session")
       return
     }
-    
+
     var err: OSStatus
-    
+
     err = VTCompressionSessionEncodeFrame(
       compressionSession,
       imageBuffer: imageBuffer,
       presentationTimeStamp: sampleBuffer.presentationTimeStamp,
       duration: .invalid,
       frameProperties: [
-        kVTEncodeFrameOptionKey_ForceKeyFrame: forceKeyFrame ? kCFBooleanTrue : kCFBooleanFalse
+        kVTEncodeFrameOptionKey_ForceKeyFrame: forceKeyFrame ? kCFBooleanTrue : kCFBooleanFalse,
       ] as CFDictionary,
       infoFlagsOut: nil
-    ) { [self] (status, infoFlags, sampleBuffer) in
+    ) { [self] status, infoFlags, sampleBuffer in
       queue.async(qos: .userInteractive) { [self] in
         if infoFlags.contains(.frameDropped) {
           print("Encoder dropped the frame with status \(status)")
           return
         }
-        
+
         guard status == noErr else {
           forceKeyFrame = true
           print("Encoder returned an error for frame with \(status)")
@@ -313,24 +328,24 @@ extension CameraManager: AVCaptureVideoDataOutputSampleBufferDelegate {
           print("Encoder returned an unexpected NULL sampleBuffer for frame")
           return
         }
-        
+
         guard let annexBData = sampleBuffer.dataBufferAsAnnexB() else {
           print("Unable to translate to Annex B format")
           forceKeyFrame = true
           return
         }
-        
+
         forceKeyFrame = false
         Task { @MainActor in
           h264Frames.send(annexBData)
         }
       }
     }
-    
+
     guard err == noErr else {
       forceKeyFrame = true
       print("Encode call failed: \(err) \(NSError(domain: NSOSStatusErrorDomain, code: Int(err)))")
-      
+
       // When the app is backgrounded and comes back to the foreground,
       // the compression session becomes invalid, so we recreate it
       if err == kVTInvalidSessionErr, let videoOutput {
@@ -357,7 +372,7 @@ extension CameraManager: AVCaptureVideoDataOutputSampleBufferDelegate {
     }
   }
 
-  func captureOutput(_ output: AVCaptureOutput, didDrop sampleBuffer: CMSampleBuffer, from connection: AVCaptureConnection) {
+  func captureOutput(_: AVCaptureOutput, didDrop _: CMSampleBuffer, from _: AVCaptureConnection) {
     Task { @MainActor in
       droppedFrames += 1
     }
@@ -374,12 +389,12 @@ extension CMSampleBuffer {
     do {
       var result = Data()
       let startCode = Data([0x00, 0x00, 0x00, 0x01])
-      
+
       try formatDescription.forEachParameterSet { buf in
         result.append(startCode)
         result.append(buf)
       }
-      
+
       try dataBuffer.withContiguousStorage { rawBuffer in
         // Since the startCode is 4 bytes, we can append the whole AVCC buffer to the output,
         // and then replace the 4-byte length values with start codes.
@@ -387,13 +402,16 @@ extension CMSampleBuffer {
         result.append(rawBuffer.assumingMemoryBound(to: UInt8.self))
         result.withUnsafeMutableBytes { resultBuffer in
           while offset + 4 < resultBuffer.count {
-            let nalUnitLength = Int(UInt32(bigEndian: resultBuffer.loadUnaligned(fromByteOffset: offset, as: UInt32.self)))
-            resultBuffer[offset..<offset+4].copyBytes(from: startCode)
+            let nalUnitLength = Int(UInt32(bigEndian: resultBuffer.loadUnaligned(
+              fromByteOffset: offset,
+              as: UInt32.self
+            )))
+            UnsafeMutableRawBufferPointer(rebasing: resultBuffer[offset ..< offset + 4]).copyBytes(from: startCode)
             offset += 4 + nalUnitLength
           }
         }
       }
-      
+
       return result
     } catch let err {
       print("Error converting to Annex B: \(err)")
@@ -416,9 +434,9 @@ extension CMFormatDescription {
     guard noErr == status else {
       throw VideoError.failedToGetParameterSetCount
     }
-    
-    for idx in 0..<parameterSetCount {
-      var ptr: UnsafePointer<UInt8>? = nil
+
+    for idx in 0 ..< parameterSetCount {
+      var ptr: UnsafePointer<UInt8>?
       var size = 0
       status = CMVideoFormatDescriptionGetH264ParameterSetAtIndex(
         self,
diff --git a/WebSocketDemo-Shared/CardToggle.swift b/WebSocketDemo-Shared/CardToggle.swift
index c835d46..865682e 100644
--- a/WebSocketDemo-Shared/CardToggle.swift
+++ b/WebSocketDemo-Shared/CardToggle.swift
@@ -9,8 +9,8 @@ struct CardToggle<Content: View>: View {
 
   @Environment(\.isEnabled) var isEnabled
 
-  internal init(isOn: Binding<Bool>, dashed: Bool = false, @ViewBuilder content: @escaping () -> Content) {
-    self._isOn = isOn
+  init(isOn: Binding<Bool>, dashed: Bool = false, @ViewBuilder content: @escaping () -> Content) {
+    _isOn = isOn
     self.dashed = dashed
     self.content = content
   }
diff --git a/WebSocketDemo-Shared/ContentView.swift b/WebSocketDemo-Shared/ContentView.swift
index b41dcbb..cb54e67 100644
--- a/WebSocketDemo-Shared/ContentView.swift
+++ b/WebSocketDemo-Shared/ContentView.swift
@@ -1,6 +1,6 @@
-import SwiftUI
 import Charts
 import StoreKit
+import SwiftUI
 
 private let isAppClip = Bundle.main.bundleIdentifier?.hasSuffix("appclip") ?? false
 private let feedbackGenerator = UINotificationFeedbackGenerator()
@@ -44,9 +44,9 @@ public struct ContentView: View {
     .onAppear {
       onboardingShown = !onboardingCompleted
     }
-    .sheet(isPresented: $onboardingShown, onDismiss: {
+    .sheet(isPresented: $onboardingShown) {
       onboardingCompleted = true
-    }) {
+    } content: {
       OnboardingView(
         isConnected: !server.clientEndpointNames.isEmpty,
         serverURL: server.addresses.first.flatMap {
@@ -130,25 +130,25 @@ public struct ContentView: View {
           }
         }
         /*
-        CardToggle(isOn: $server.sendWatchData, dashed: isAppClip) {
-          Text("Heart Rate (Apple Watch)")
-            .multilineTextAlignment(.center)
-          if isAppClip {
-            Text("Requires full app")
-              .font(.caption)
-              .foregroundColor(.secondary)
-          }
-        }.disabled(isAppClip)
-          .onTapGesture {
-            if isAppClip && !appStoreOverlayShown {
-              appStoreOverlayShown = true
-              feedbackGenerator.notificationOccurred(.warning)
-            }
-          }
-          .appStoreOverlay(isPresented: $appStoreOverlayShown) {
-            SKOverlay.AppClipConfiguration(position: .bottom)
-          }
-         */
+         CardToggle(isOn: $server.sendWatchData, dashed: isAppClip) {
+           Text("Heart Rate (Apple Watch)")
+             .multilineTextAlignment(.center)
+           if isAppClip {
+             Text("Requires full app")
+               .font(.caption)
+               .foregroundColor(.secondary)
+           }
+         }.disabled(isAppClip)
+           .onTapGesture {
+             if isAppClip && !appStoreOverlayShown {
+               appStoreOverlayShown = true
+               feedbackGenerator.notificationOccurred(.warning)
+             }
+           }
+           .appStoreOverlay(isPresented: $appStoreOverlayShown) {
+             SKOverlay.AppClipConfiguration(position: .bottom)
+           }
+          */
       }.padding()
     }
   }
@@ -158,7 +158,7 @@ public struct ContentView: View {
       if let port = server.actualPort {
         Section {
           let addrs = Array(server.addresses.enumerated())
-          ForEach(addrs, id: \.offset) { (_, addr) in
+          ForEach(addrs, id: \.offset) { _, addr in
             IPAddressRow(address: addr, port: port)
           }
         } header: {
@@ -186,7 +186,8 @@ public struct ContentView: View {
         } footer: {
           let info = Bundle.main.infoDictionary
           if let version = info?["CFBundleShortVersionString"] as? String,
-             let build = info?["CFBundleVersion"] as? String {
+             let build = info?["CFBundleVersion"] as? String
+          {
             Text("Version \(version) (\(build))")
               .frame(maxWidth: .infinity)
           }
diff --git a/WebSocketDemo-Shared/FoxgloveServer.swift b/WebSocketDemo-Shared/FoxgloveServer.swift
index 0791504..21f1b14 100644
--- a/WebSocketDemo-Shared/FoxgloveServer.swift
+++ b/WebSocketDemo-Shared/FoxgloveServer.swift
@@ -1,11 +1,14 @@
-import Network
-import Foundation
 import CoreMotion
+import Foundation
+import Network
+
+// swiftlint:disable:next blanket_disable_command
+// swiftlint:disable force_try todo
 
 extension NWConnection: Hashable, Comparable, Identifiable {
   public static func < (lhs: NWConnection, rhs: NWConnection) -> Bool {
     switch (lhs.endpoint, rhs.endpoint) {
-    case (.hostPort(let host1, _), .hostPort(host: let host2, _)):
+    case let (.hostPort(host1, _), .hostPort(host: host2, _)):
       return host1.debugDescription < host2.debugDescription
 
     default:
@@ -14,7 +17,7 @@ extension NWConnection: Hashable, Comparable, Identifiable {
   }
 
   public static func == (lhs: NWConnection, rhs: NWConnection) -> Bool {
-    return lhs === rhs
+    lhs === rhs
   }
 
   public func hash(into hasher: inout Hasher) {
@@ -22,7 +25,7 @@ extension NWConnection: Hashable, Comparable, Identifiable {
   }
 
   public var id: ObjectIdentifier {
-    return ObjectIdentifier(self)
+    ObjectIdentifier(self)
   }
 }
 
@@ -37,7 +40,7 @@ class ClientInfo {
 
   init(connection: NWConnection) {
     self.connection = connection
-    self.name = connection.endpoint.debugDescription
+    name = connection.endpoint.debugDescription
   }
 }
 
@@ -62,7 +65,7 @@ class FoxgloveServer: ObservableObject {
 
   @MainActor
   var clientEndpointNames: [String] {
-    return clients.keys.sorted().map { $0.endpoint.debugDescription }
+    clients.keys.sorted().map(\.endpoint.debugDescription)
   }
 
   @MainActor var channels: [ChannelID: Channel] = [:]
@@ -74,7 +77,7 @@ class FoxgloveServer: ObservableObject {
       print(params.defaultProtocolStack.applicationProtocols)
 
       let opts = NWProtocolWebSocket.Options()
-      opts.setClientRequestHandler(queue) { subprotocols, additionalHeaders in
+      opts.setClientRequestHandler(queue) { subprotocols, _ in
         let subproto = "foxglove.websocket.v1"
         if subprotocols.contains(subproto) {
           return NWProtocolWebSocket.Response(status: .accept, subprotocol: subproto)
@@ -103,7 +106,7 @@ class FoxgloveServer: ObservableObject {
         self?.handleNewConnection(newConnection)
       }
       listener.start(queue: queue)
-    } catch let error {
+    } catch {
       print("Error \(error)")
     }
   }
@@ -122,7 +125,7 @@ class FoxgloveServer: ObservableObject {
           self.handleClientMessage(info, data, context, isComplete, error)
           receive()
         }
-        //TODO: emit error
+        // TODO: emit error
         if let error {
           print("receive error: \(error)")
         }
@@ -137,7 +140,7 @@ class FoxgloveServer: ObservableObject {
 
         let closed: Bool
         switch connection.state {
-        case .cancelled, .failed(_):
+        case .cancelled, .failed:
           closed = true
         default:
           closed = false
@@ -174,10 +177,9 @@ class FoxgloveServer: ObservableObject {
     }
     receive()
 
-    connection.start(queue: self.queue)
+    connection.start(queue: queue)
   }
 
-
   static let binaryMessage = NWConnection.ContentContext(identifier: "", metadata: [
     NWProtocolWebSocket.Metadata(opcode: .binary),
   ])
@@ -226,7 +228,7 @@ class FoxgloveServer: ObservableObject {
             "schema": schema,
           ],
         ], to: conn)
-      } catch let error {
+      } catch {
         // TODO: emit error
         print("addchannel error: \(error)")
       }
@@ -235,7 +237,6 @@ class FoxgloveServer: ObservableObject {
     return newID
   }
 
-
   /**
    * Remove a previously advertised channel and inform any connected clients.
    */
@@ -253,13 +254,13 @@ class FoxgloveServer: ObservableObject {
       }
 
       do {
-        //TODO: serialize once
+        // TODO: serialize once
         try sendJson([
           "op": "unadvertise",
           "channelIds": [channelID],
         ], to: conn)
-      } catch let error {
-        //TODO: emit error
+      } catch {
+        // TODO: emit error
         print("remove error \(error)")
       }
     }
@@ -278,53 +279,74 @@ class FoxgloveServer: ObservableObject {
     }
   }
 
-  private func sendMessageData(on connection: NWConnection, subscriptionID: SubscriptionID, timestamp: UInt64, payload: Data) {
+  private func sendMessageData(
+    on connection: NWConnection,
+    subscriptionID: SubscriptionID,
+    timestamp: UInt64,
+    payload: Data
+  ) {
     var header = Data(count: 1 + 4 + 8)
     header[0] = BinaryOpcode.messageData.rawValue
     withUnsafeBytes(of: subscriptionID.littleEndian) {
-      header.replaceSubrange(1..<5, with: $0.baseAddress!, count: $0.count)
+      header.replaceSubrange(1 ..< 5, with: $0.baseAddress!, count: $0.count)
     }
     withUnsafeBytes(of: timestamp.littleEndian) {
-      header.replaceSubrange(5..<13, with: $0.baseAddress!, count: $0.count)
+      header.replaceSubrange(5 ..< 13, with: $0.baseAddress!, count: $0.count)
     }
-    connection.send(content: header, contentContext: Self.binaryMessage, isComplete: false, completion: .contentProcessed { error in
-      if let error = error {
-        print("error sending1: \(error)")
+    connection.send(
+      content: header,
+      contentContext: Self.binaryMessage,
+      isComplete: false,
+      completion: .contentProcessed { error in
+        if let error {
+          print("error sending1: \(error)")
+        }
       }
-    })
-    connection.send(content: payload, contentContext: Self.binaryMessage, isComplete: true, completion: .contentProcessed { error in
-      if let error = error {
-        print("error sending2: \(error)")
+    )
+    connection.send(
+      content: payload,
+      contentContext: Self.binaryMessage,
+      isComplete: true,
+      completion: .contentProcessed { error in
+        if let error {
+          print("error sending2: \(error)")
+        }
       }
-    })
+    )
   }
 
   private func sendJson(_ obj: Any, to connection: NWConnection) throws {
     let data = try JSONSerialization.data(withJSONObject: obj)
 
-    connection.send(content: data, contentContext: Self.jsonMessage, completion: .contentProcessed({ error in
+    connection.send(content: data, contentContext: Self.jsonMessage, completion: .contentProcessed { error in
       if let error {
         print("send error: \(error)")
       }
-    }))
+    })
   }
 
   private func sendBinary(_ data: Data, to connection: NWConnection) throws {
-    connection.send(content: data, contentContext: Self.binaryMessage, completion: .contentProcessed({ error in
+    connection.send(content: data, contentContext: Self.binaryMessage, completion: .contentProcessed { error in
       if let error {
         print("send error: \(error)")
       }
-    }))
+    })
   }
 
-  private func handleClientMessage(_ client: ClientInfo, _ data: Data, _ context: NWConnection.ContentContext, _ isComplete: Bool, _ error: NWError?) {
+  private func handleClientMessage(
+    _ client: ClientInfo,
+    _ data: Data,
+    _ context: NWConnection.ContentContext,
+    _: Bool,
+    _ error: NWError?
+  ) {
     do {
       let metadata = context.protocolMetadata(definition: NWProtocolWebSocket.definition)
       let isText = (metadata as? NWProtocolWebSocket.Metadata)?.opcode == .text
       if isText {
         let msg = try JSONDecoder().decode(ClientMessage.self, from: data)
         switch msg {
-        case .subscribe(let msg):
+        case let .subscribe(msg):
           Task { @MainActor in
             for sub in msg.subscriptions {
               // TODO: emit status messages for warnings (see TS impl)
@@ -338,15 +360,15 @@ class FoxgloveServer: ObservableObject {
             }
             // TODO: emit subscribe
           }
-        case .unsubscribe(let msg):
+        case let .unsubscribe(msg):
           Task { @MainActor in
             for sub in msg.subscriptionIds {
               guard let chanID = client.subscriptions[sub] else {
-                //TODO: error
+                // TODO: error
                 continue
               }
               client.subscriptions[sub] = nil
-              //TODO: cleanup index usage?
+              // TODO: cleanup index usage?
               client.subscriptionsByChannel[chanID]?.remove(sub)
               if client.subscriptionsByChannel[chanID]?.isEmpty == true {
                 client.subscriptionsByChannel[chanID] = nil
@@ -361,8 +383,8 @@ class FoxgloveServer: ObservableObject {
       } else {
         print("Got client message: data \(data)")
       }
-    } catch let error {
-      //TODO: emit error
+    } catch {
+      // TODO: emit error
       print("client msg error: \(error)")
     }
   }
@@ -382,6 +404,7 @@ struct Subscribe: Decodable {
     let id: SubscriptionID
     let channelId: ChannelID
   }
+
   let subscriptions: [Subscription]
 }
 
@@ -401,8 +424,8 @@ enum ClientMessage: Decodable {
   init(from decoder: Decoder) throws {
     let op = try decoder.container(keyedBy: CodingKeys.self).decode(String.self, forKey: .op)
     switch ClientOp(rawValue: op) {
-    case .subscribe: self = .subscribe(try Subscribe(from: decoder))
-    case .unsubscribe: self = .unsubscribe(try Unsubscribe(from: decoder))
+    case .subscribe: self = try .subscribe(Subscribe(from: decoder))
+    case .unsubscribe: self = try .unsubscribe(Unsubscribe(from: decoder))
     case nil:
       throw FoxgloveServerError.unrecognizedOpcode(op)
     }
diff --git a/WebSocketDemo-Shared/IPAddressRow.swift b/WebSocketDemo-Shared/IPAddressRow.swift
index a5ffa29..ba37d23 100644
--- a/WebSocketDemo-Shared/IPAddressRow.swift
+++ b/WebSocketDemo-Shared/IPAddressRow.swift
@@ -1,9 +1,9 @@
-import SwiftUI
 import Network
+import SwiftUI
 
 extension IPAddress {
   var withoutInterface: IPAddress {
-    return Self.init(rawValue, nil) ?? self
+    Self(rawValue, nil) ?? self
   }
 
   var urlString: String {
@@ -63,7 +63,7 @@ struct IPAddressRow: View {
         var url = URL(string: "https://studio.foxglove.dev/")!
         url.append(queryItems: [
           URLQueryItem(name: "ds", value: "foxglove-websocket"),
-          URLQueryItem(name: "ds.url", value: "ws://\(address.withoutInterface.urlString):\(String(port.rawValue))")
+          URLQueryItem(name: "ds.url", value: "ws://\(address.withoutInterface.urlString):\(String(port.rawValue))"),
         ])
         return url
       }()
diff --git a/WebSocketDemo-Shared/Onboarding/ConnectionView.swift b/WebSocketDemo-Shared/Onboarding/ConnectionView.swift
index b7f63ca..90b43b1 100644
--- a/WebSocketDemo-Shared/Onboarding/ConnectionView.swift
+++ b/WebSocketDemo-Shared/Onboarding/ConnectionView.swift
@@ -42,7 +42,7 @@ struct ConnectionView: View {
         }
       }
     }
-      .disabled(!isConnected)
+    .disabled(!isConnected)
   }
 
   var body: some View {
@@ -94,7 +94,10 @@ struct ConnectionView: View {
               .foregroundColor(.secondary)
               .font(.system(size: bulletSize))
             VStack(alignment: .leading, spacing: 6) {
-              Text("Click the \(Image(systemName: "shield.lefthalf.filled")) icon in the address bar, then click “Load Unsafe Scripts”")
+              Text(
+                // swiftlint:disable:next line_length
+                "Click the \(Image(systemName: "shield.lefthalf.filled")) icon in the address bar, then click “Load Unsafe Scripts”"
+              )
               Text("This setting allows a “`https://`” page to connect to a “`ws://`” URL")
                 .font(.caption)
                 .foregroundColor(.secondary)
diff --git a/WebSocketDemo-Shared/Onboarding/ContinueButton.swift b/WebSocketDemo-Shared/Onboarding/ContinueButton.swift
index 5bcb572..afd3d24 100644
--- a/WebSocketDemo-Shared/Onboarding/ContinueButton.swift
+++ b/WebSocketDemo-Shared/Onboarding/ContinueButton.swift
@@ -13,7 +13,7 @@ extension EnvironmentValues {
 
 extension View {
   func onContinue(_ action: @escaping () -> Void) -> some View {
-    self.environment(\.onContinue, action)
+    environment(\.onContinue, action)
   }
 }
 
diff --git a/WebSocketDemo-Shared/Onboarding/IntroView.swift b/WebSocketDemo-Shared/Onboarding/IntroView.swift
index f7e2ac0..e85a43c 100644
--- a/WebSocketDemo-Shared/Onboarding/IntroView.swift
+++ b/WebSocketDemo-Shared/Onboarding/IntroView.swift
@@ -1,11 +1,11 @@
 import SwiftUI
 
-fileprivate class Dummy {}
+private class Dummy {}
 
 extension Text {
   // https://stackoverflow.com/a/64731044/23649
   func fixedHeight() -> some View {
-    self.fixedSize(horizontal: false, vertical: true)
+    fixedSize(horizontal: false, vertical: true)
   }
 }
 
@@ -63,8 +63,8 @@ struct IntroView: View {
 
         Spacer(minLength: 16).fixedSize()
         Text("""
-Stream data from your \(deviceModel)’s built-in sensors to Foxglove Studio for instant visualization.
-""")
+        Stream data from your \(deviceModel)’s built-in sensors to Foxglove Studio for instant visualization.
+        """)
         .fixedHeight()
         .lineSpacing(4)
 
diff --git a/WebSocketDemo-Shared/Onboarding/OnboardingView.swift b/WebSocketDemo-Shared/Onboarding/OnboardingView.swift
index 542cf02..3aebce6 100644
--- a/WebSocketDemo-Shared/Onboarding/OnboardingView.swift
+++ b/WebSocketDemo-Shared/Onboarding/OnboardingView.swift
@@ -54,7 +54,7 @@ struct OnboardingStepWrapper<Content: View>: View {
           .multilineTextAlignment(.center)
           .padding(.horizontal, 32)
           .padding(.bottom, 32)
-        // Ensure the content takes up at least one full page in the scroll view
+          // Ensure the content takes up at least one full page in the scroll view
           .frame(maxWidth: .infinity, minHeight: proxy.size.height)
       }
     }
diff --git a/WebSocketDemo-Shared/Onboarding/StudioUsageView.swift b/WebSocketDemo-Shared/Onboarding/StudioUsageView.swift
index f154924..cfc4d77 100644
--- a/WebSocketDemo-Shared/Onboarding/StudioUsageView.swift
+++ b/WebSocketDemo-Shared/Onboarding/StudioUsageView.swift
@@ -1,10 +1,10 @@
-import SwiftUI
 import SafariServices
+import SwiftUI
 
 struct SafariView: UIViewControllerRepresentable {
   let url: URL
 
-  func makeUIViewController(context: Context) -> SFSafariViewController {
+  func makeUIViewController(context _: Context) -> SFSafariViewController {
     let config = SFSafariViewController.Configuration()
     // Bar collapsing looks buggy when presented in a sheet.
     config.barCollapsingEnabled = false
@@ -12,7 +12,7 @@ struct SafariView: UIViewControllerRepresentable {
     return SFSafariViewController(url: url, configuration: config)
   }
 
-  func updateUIViewController(_ uiViewController: SFSafariViewController, context: Context) {
+  func updateUIViewController(_: SFSafariViewController, context _: Context) {
     print("Warning: unable to update SFSafariViewController")
   }
 }
@@ -92,8 +92,10 @@ struct StudioUsageView: View {
         Spacer(minLength: 32).fixedSize()
 
         Text("""
-Try adding the **3D**, **Image**, **Map**, and **Plot** panels to your layout to start exploring your \(deviceModel)’s sensor data.
-""")
+        Try adding the **3D**, **Image**, **Map**, and **Plot** panels to your layout to start exploring your \(
+          deviceModel
+        )’s sensor data.
+        """)
         Spacer(minLength: 32).fixedSize()
         Button("View Docs") {
           showDocs = true
diff --git a/WebSocketDemo-Shared/Server.swift b/WebSocketDemo-Shared/Server.swift
index 5830174..b316831 100644
--- a/WebSocketDemo-Shared/Server.swift
+++ b/WebSocketDemo-Shared/Server.swift
@@ -1,11 +1,14 @@
-import SwiftUI
-import CoreMotion
 import AVFoundation
 import Combine
-import Network
 import CoreLocation
+import CoreMotion
+import Network
+import SwiftUI
 import WatchConnectivity
 
+// swiftlint:disable:next blanket_disable_command
+// swiftlint:disable force_try
+
 struct CPUUsage: Encodable, Identifiable {
   let usage: Double
   let date: Date
@@ -30,6 +33,7 @@ struct Timestamp: Encodable {
   let sec: UInt32
   let nsec: UInt32
 }
+
 extension Timestamp {
   init(_ date: Date) {
     let seconds = date.timeIntervalSince1970
@@ -43,6 +47,7 @@ extension Timestamp {
     nsec = intNsec
   }
 }
+
 struct Health: Encodable {
   let heart_rate: Double
   let timestamp: Timestamp
@@ -60,7 +65,7 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
   @Published var actualPort: NWEndpoint.Port?
 
   let server = FoxgloveServer()
-  
+
   let cameraManager = CameraManager()
   let motionManager = CMMotionManager()
   let locationManager = CLLocationManager()
@@ -79,7 +84,7 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
   let watchSession = WCSession.default
 
   @Published private(set) var droppedVideoFrames = 0
-  
+
   @Published private(set) var cameraError: Error?
 
   @Published var sendPose = true {
@@ -101,11 +106,13 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
       }
     }
   }
+
   @Published var useVideoCompression = true {
     didSet {
       cameraManager.useVideoCompression = useVideoCompression
     }
   }
+
   var hasCameraPermission: Bool {
     AVCaptureDevice.authorizationStatus(for: .video) == .authorized
   }
@@ -119,8 +126,10 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
       }
     }
   }
+
   var hasLocationPermission: Bool {
-    locationManager.authorizationStatus == .authorizedWhenInUse || locationManager.authorizationStatus == .authorizedAlways
+    locationManager.authorizationStatus == .authorizedWhenInUse || locationManager
+      .authorizationStatus == .authorizedAlways
   }
 
   @Published var sendCPU = true {
@@ -158,11 +167,9 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
       cameraManager.activeCamera = activeCamera
     }
   }
-  
-  
 
   var clientEndpointNames: [String] {
-    return server.clientEndpointNames
+    server.clientEndpointNames
   }
 
   var cpuTimer: Timer?
@@ -182,57 +189,61 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
       topic: "camera_jpeg",
       encoding: "protobuf",
       schemaName: Foxglove_CompressedImage.protoMessageName,
-      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "CompressedImage", withExtension: "bin")!).base64EncodedString()
+      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "CompressedImage", withExtension: "bin")!)
+        .base64EncodedString()
     )
     calibrationChannel = server.addChannel(
       topic: "calibration",
       encoding: "protobuf",
       schemaName: Foxglove_CameraCalibration.protoMessageName,
-      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "CameraCalibration", withExtension: "bin")!).base64EncodedString()
+      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "CameraCalibration", withExtension: "bin")!)
+        .base64EncodedString()
     )
     h264Channel = server.addChannel(
       topic: "camera_h264",
       encoding: "protobuf",
       schemaName: Foxglove_CompressedVideo.protoMessageName,
-      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "CompressedVideo", withExtension: "bin")!).base64EncodedString()
+      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "CompressedVideo", withExtension: "bin")!)
+        .base64EncodedString()
     )
     locationChannel = server.addChannel(
       topic: "gps",
       encoding: "protobuf",
       schemaName: Foxglove_LocationFix.protoMessageName,
-      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "LocationFix", withExtension: "bin")!).base64EncodedString()
+      schema: try! Data(contentsOf: Bundle(for: Self.self).url(forResource: "LocationFix", withExtension: "bin")!)
+        .base64EncodedString()
     )
     cpuChannel = server.addChannel(topic: "cpu", encoding: "json", schemaName: "CPU", schema:
-#"""
-{
-  "type":"object",
-  "properties":{
-    "usage":{"type":"number"}
-  }
-}
-"""#)
+      #"""
+      {
+        "type":"object",
+        "properties":{
+          "usage":{"type":"number"}
+        }
+      }
+      """#)
     memChannel = server.addChannel(topic: "memory", encoding: "json", schemaName: "Memory", schema:
-#"""
-{
-  "type":"object",
-  "properties":{
-    "usage":{"type":"number"}
-  }
-}
-"""#)
+      #"""
+      {
+        "type":"object",
+        "properties":{
+          "usage":{"type":"number"}
+        }
+      }
+      """#)
     healthChannel = server.addChannel(topic: "health", encoding: "json", schemaName: "Health", schema:
-#"""
-{
-  "type":"object",
-  "properties":{
-    "heart_rate":{"type":"number"},
-    "timestamp":{
-      "type":"object",
-      "properties":{"sec":{"type":"number"},"nsec":{"type":"number"}}
-    }
-  }
-}
-"""#)
+      #"""
+      {
+        "type":"object",
+        "properties":{
+          "heart_rate":{"type":"number"},
+          "timestamp":{
+            "type":"object",
+            "properties":{"sec":{"type":"number"},"nsec":{"type":"number"}}
+          }
+        }
+      }
+      """#)
     super.init()
     server.start(preferredPort: preferredPort.flatMap { UInt16(exactly: $0) })
     server.$port
@@ -246,11 +257,11 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
     startCPUUpdates()
     startMemoryUpdates()
     watchSession.delegate = self
-    
+
     cameraManager.$droppedFrames
       .assign(to: \.droppedVideoFrames, on: self)
       .store(in: &subscribers)
-    
+
     cameraManager.$currentError
       .assign(to: \.cameraError, on: self)
       .store(in: &subscribers)
@@ -264,7 +275,7 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
         msg.timestamp = .init(date: .now)
         msg.frameID = "camera"
         // Convert column-major to row-major
-        msg.k = (0..<3).flatMap { r in (0..<3).map { c in Double(calibration.intrinsicMatrix[c, r]) } }
+        msg.k = (0 ..< 3).flatMap { r in (0 ..< 3).map { c in Double(calibration.intrinsicMatrix[c, r]) } }
         msg.p = [
           msg.k[0], msg.k[1], msg.k[2], 0,
           msg.k[3], msg.k[4], msg.k[5], 0,
@@ -273,7 +284,11 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
         msg.width = UInt32(calibration.width)
         msg.height = UInt32(calibration.height)
         let data = try! msg.serializedData()
-        self.server.sendMessage(on: self.calibrationChannel, timestamp: DispatchTime.now().uptimeNanoseconds, payload: data)
+        self.server.sendMessage(
+          on: self.calibrationChannel,
+          timestamp: DispatchTime.now().uptimeNanoseconds,
+          payload: data
+        )
       }
       .store(in: &subscribers)
 
@@ -317,7 +332,7 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
   }
 
   func updateAddresses() {
-    self.addresses = getIPAddresses()
+    addresses = getIPAddresses()
       .filter {
         // Filter out some AirDrop interfaces that are not useful https://apple.stackexchange.com/q/394047/8318
         if $0.interface?.name.hasPrefix("llw") == true || $0.interface?.name.hasPrefix("awdl") == true {
@@ -389,7 +404,6 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
     memTimer = nil
   }
 
-
   func startLocationUpdates() {
     locationManager.delegate = self
     locationManager.desiredAccuracy = kCLLocationAccuracyBest
@@ -403,7 +417,7 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
     locationManager.stopUpdatingLocation()
   }
 
-  nonisolated func locationManager(_ manager: CLLocationManager, didUpdateLocations locations: [CLLocation]) {
+  nonisolated func locationManager(_: CLLocationManager, didUpdateLocations locations: [CLLocation]) {
     guard let location: CLLocation = locations.last else { return }
 
     var msg = Foxglove_LocationFix()
@@ -425,27 +439,28 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
 
   func startPoseUpdates() {
     motionManager.deviceMotionUpdateInterval = 0.02
-    motionManager.startDeviceMotionUpdates(to: .main) { motion, error in
+    motionManager.startDeviceMotionUpdates(to: .main) { motion, _ in
       if let motion {
         self.sendPose(motion: motion)
       }
     }
   }
+
   func stopPoseUpdates() {
     motionManager.stopDeviceMotionUpdates()
   }
 
   func sendPose(motion: CMDeviceMotion) {
     let data = try! JSONSerialization.data(withJSONObject: [
-      "timestamp": ["sec":0,"nsec":0],
+      "timestamp": ["sec": 0, "nsec": 0],
       "frame_id": "root",
       "pose": [
-        "position":["x":0,"y":0,"z":0],
-        "orientation":[
-          "x":motion.attitude.quaternion.x,
-          "y":motion.attitude.quaternion.y,
-          "z":motion.attitude.quaternion.z,
-          "w":motion.attitude.quaternion.w,
+        "position": ["x": 0, "y": 0, "z": 0],
+        "orientation": [
+          "x": motion.attitude.quaternion.x,
+          "y": motion.attitude.quaternion.y,
+          "z": motion.attitude.quaternion.z,
+          "w": motion.attitude.quaternion.w,
         ],
       ],
     ], options: .sortedKeys)
@@ -454,28 +469,28 @@ class Server: NSObject, ObservableObject, AVCaptureVideoDataOutputSampleBufferDe
   }
 }
 
-
 extension Server: WCSessionDelegate {
-  func session(_ session: WCSession, activationDidCompleteWith activationState: WCSessionActivationState, error: Error?) {
+  func session(_: WCSession, activationDidCompleteWith activationState: WCSessionActivationState, error: Error?) {
     print("watch activation completed: \(activationState), error: \(error)")
   }
 
-  func sessionDidBecomeInactive(_ session: WCSession) {
+  func sessionDidBecomeInactive(_: WCSession) {
     print("watch became inactive")
   }
 
-  func sessionDidDeactivate(_ session: WCSession) {
+  func sessionDidDeactivate(_: WCSession) {
     print("watch deactivated")
   }
 
   func startWatchUpdates() {
     watchSession.activate()
   }
+
   func stopWatchUpdates() {
     print("stop watch updates?")
   }
 
-  func session(_ session: WCSession, didReceiveMessage message: [String : Any]) {
+  func session(_: WCSession, didReceiveMessage message: [String: Any]) {
     print("message from watch: \(message)")
     guard sendWatchData else {
       return
diff --git a/WebSocketDemo-Shared/compareIPAddresses.swift b/WebSocketDemo-Shared/compareIPAddresses.swift
index f03eba2..e06ba69 100644
--- a/WebSocketDemo-Shared/compareIPAddresses.swift
+++ b/WebSocketDemo-Shared/compareIPAddresses.swift
@@ -1,9 +1,9 @@
 import Foundation
 import Network
 
-fileprivate struct BytewiseLess: Comparable {
+private struct BytewiseLess: Comparable {
   let data: Data
-  static func <(lhs: BytewiseLess, rhs: BytewiseLess) -> Bool {
+  static func < (lhs: BytewiseLess, rhs: BytewiseLess) -> Bool {
     if lhs.data.count < rhs.data.count {
       return true
     }
@@ -18,10 +18,10 @@ fileprivate struct BytewiseLess: Comparable {
   }
 }
 
-fileprivate struct TrueLess: Comparable {
+private struct TrueLess: Comparable {
   let value: Bool
-  static func <(lhs: TrueLess, rhs: TrueLess) -> Bool {
-    return lhs.value && !rhs.value
+  static func < (lhs: TrueLess, rhs: TrueLess) -> Bool {
+    lhs.value && !rhs.value
   }
 }
 
@@ -32,7 +32,7 @@ fileprivate struct TrueLess: Comparable {
  - fall back to comparing raw addresses
  */
 func compareIPAddresses(_ lhs: IPAddress, _ rhs: IPAddress) -> Bool {
-  return (
+  (
     TrueLess(value: lhs is IPv4Address),
     TrueLess(value: lhs.interface?.type == .wifi),
     TrueLess(value: lhs.interface?.type == .wiredEthernet),
diff --git a/WebSocketDemo-Shared/getCPUUsage.swift b/WebSocketDemo-Shared/getCPUUsage.swift
index 51fd1b9..c5d062d 100644
--- a/WebSocketDemo-Shared/getCPUUsage.swift
+++ b/WebSocketDemo-Shared/getCPUUsage.swift
@@ -1,7 +1,7 @@
 import Darwin.Mach.host_info
 
 //// https://stackoverflow.com/a/44744883
-//func getCPUUsage() -> host_cpu_load_info? {
+// func getCPUUsage() -> host_cpu_load_info? {
 //  let  HOST_CPU_LOAD_INFO_COUNT = MemoryLayout<host_cpu_load_info>.stride / MemoryLayout<integer_t>.stride
 //
 //  var size = mach_msg_type_number_t(HOST_CPU_LOAD_INFO_COUNT)
@@ -18,22 +18,23 @@ import Darwin.Mach.host_info
 //  let data = hostInfo.move()
 //  hostInfo.deallocate()
 //  return data
-//}
+// }
 
+// swiftlint:disable:next line_length
 // From https://github.com/dani-gavrilov/GDPerformanceView-Swift/blob/171a656040135d667f4228c3ec82f2384770d87d/GDPerformanceView-Swift/GDPerformanceMonitoring/PerformanceСalculator.swift#L94
 // See also: https://developer.apple.com/forums/thread/655349
 func getCPUUsage() -> Double {
-  var totalUsageOfCPU: Double = 0.0
+  var totalUsageOfCPU = 0.0
   var threadsList: thread_act_array_t?
   var threadsCount = mach_msg_type_number_t(0)
   let threadsResult = withUnsafeMutablePointer(to: &threadsList) {
-    return $0.withMemoryRebound(to: thread_act_array_t?.self, capacity: 1) {
+    $0.withMemoryRebound(to: thread_act_array_t?.self, capacity: 1) {
       task_threads(mach_task_self_, $0, &threadsCount)
     }
   }
 
-  if threadsResult == KERN_SUCCESS, let threadsList = threadsList {
-    for index in 0..<threadsCount {
+  if threadsResult == KERN_SUCCESS, let threadsList {
+    for index in 0 ..< threadsCount {
       var threadInfo = thread_basic_info()
       var threadInfoCount = mach_msg_type_number_t(THREAD_INFO_MAX)
       let infoResult = withUnsafeMutablePointer(to: &threadInfo) {
@@ -53,6 +54,10 @@ func getCPUUsage() -> Double {
     }
   }
 
-  vm_deallocate(mach_task_self_, vm_address_t(UInt(bitPattern: threadsList)), vm_size_t(Int(threadsCount) * MemoryLayout<thread_t>.stride))
+  vm_deallocate(
+    mach_task_self_,
+    vm_address_t(UInt(bitPattern: threadsList)),
+    vm_size_t(Int(threadsCount) * MemoryLayout<thread_t>.stride)
+  )
   return totalUsageOfCPU
 }
diff --git a/WebSocketDemo-Shared/getMemoryUsage.swift b/WebSocketDemo-Shared/getMemoryUsage.swift
index 0521dc3..8ba0df9 100644
--- a/WebSocketDemo-Shared/getMemoryUsage.swift
+++ b/WebSocketDemo-Shared/getMemoryUsage.swift
@@ -1,6 +1,7 @@
-import Foundation
 import Darwin.Mach.task_info
+import Foundation
 
+// swiftlint:disable:next line_length
 // https://github.com/dani-gavrilov/GDPerformanceView-Swift/blob/171a656040135d667f4228c3ec82f2384770d87d/GDPerformanceView-Swift/GDPerformanceMonitoring/PerformanceСalculator.swift#L129
 func getMemoryUsage() -> (used: UInt64, total: UInt64) {
   var taskInfo = task_vm_info_data_t()
diff --git a/WebSocketDemo-Shared/schemas.swift b/WebSocketDemo-Shared/schemas.swift
index 3b1195a..b997e48 100644
--- a/WebSocketDemo-Shared/schemas.swift
+++ b/WebSocketDemo-Shared/schemas.swift
@@ -1,3 +1,6 @@
+// swiftlint:disable:next blanket_disable_command
+// swiftlint:disable line_length
+
 let poseInFrameSchema = """
 {
   "title": "foxglove.PoseInFrame",
diff --git a/WebSocketDemo-Watch/ContentView.swift b/WebSocketDemo-Watch/ContentView.swift
index b83e96a..fffaef5 100644
--- a/WebSocketDemo-Watch/ContentView.swift
+++ b/WebSocketDemo-Watch/ContentView.swift
@@ -1,6 +1,6 @@
+import HealthKit
 import SwiftUI
 import WatchConnectivity
-import HealthKit
 
 @MainActor
 class SessionManager: NSObject, ObservableObject, WCSessionDelegate {
@@ -34,7 +34,11 @@ class SessionManager: NSObject, ObservableObject, WCSessionDelegate {
     }
   }
 
-  nonisolated func session(_ session: WCSession, activationDidCompleteWith activationState: WCSessionActivationState, error: Error?) {
+  nonisolated func session(
+    _: WCSession,
+    activationDidCompleteWith activationState: WCSessionActivationState,
+    error: Error?
+  ) {
     guard activationState == .activated else {
       print("activation failed \(error)")
       return
@@ -61,21 +65,26 @@ class SessionManager: NSObject, ObservableObject, WCSessionDelegate {
       session.pause()
       workoutSession = session
       print("started session")
-    } catch let error {
+    } catch {
       print("error creating workout: \(error)")
     }
     let type = HKQuantityType(.heartRate)
-    let query = HKAnchoredObjectQuery(type: type, predicate: HKQuery.predicateForSamples(withStart: .now, end: nil), anchor: nil, limit: HKObjectQueryNoLimit) { query, samples, deleted, anchor, error in
+    let query = HKAnchoredObjectQuery(
+      type: type,
+      predicate: HKQuery.predicateForSamples(withStart: .now, end: nil),
+      anchor: nil,
+      limit: HKObjectQueryNoLimit
+    ) { _, samples, deleted, anchor, error in
       print("results: \(samples), deleted \(deleted), anchor \(anchor), error \(error)")
     }
-    query.updateHandler = { [weak self] query, samples, deleted, anchor, error in
+    query.updateHandler = { [weak self] _, samples, deleted, anchor, error in
       guard let self else { return }
       print("update: \(samples), deleted \(deleted), anchor \(anchor), error \(error)")
 
       guard let samples else { return }
       for case let sample as HKQuantitySample in samples {
         let bpm = sample.quantity.doubleValue(for: HKUnit(from: "count/min"))
-        self.session.sendMessage(["heart_rate": bpm], replyHandler: nil)
+        session.sendMessage(["heart_rate": bpm], replyHandler: nil)
         Task { @MainActor in
           self.currentHeartRate = bpm
         }