Navign

An elegant and comprehensive indoor mall navigation system with BLE beacon-based positioning, secure access control, gesture recognition, and robotics delivery.

🌟 Overview

Navign is a complete indoor navigation and automation platform designed for shopping malls, transportation hubs, schools, and hospitals. The system combines cutting-edge technologies including Bluetooth Low Energy (BLE) beacons, cryptographic security, computer vision, gesture recognition, and robotics to provide intelligent wayfinding, secure access control, and automated delivery services.

📦 Project Structure

This monorepo contains multiple interconnected components:

navign/
├── server/              # Rust backend server with pathfinding & API
├── mobile/              # Vue + Tauri cross-platform mobile app
├── firmware/            # ESP32-C3 BLE beacon firmware (Rust embedded)
├── miniapp/             # WeChat Mini Program
├── robot/               # Robot upper layer (Rust + Python distributed system)
│   ├── scheduler/       # Task coordination (Rust)
│   ├── serial/          # UART bridge to STM32 (Rust)
│   ├── network/         # Server communication (Rust)
│   ├── vision/          # Computer vision (Python - YOLO, AprilTag, MediaPipe)
│   ├── audio/           # Wake word & TTS (Python)
│   ├── intelligence/    # AI/LLM scene description (Python)
│   ├── lower/           # STM32F407 motor control (Rust Embassy)
│   └── firmware/        # Raspberry Pi firmware (Rust)
├── animations/          # Manim animations for presentations (Python)
├── vision/              # Apple Vision Pro spatial computing app (Swift)
├── admin/
│   ├── maintenance/     # ESP32-C3 key management CLI (Rust)
│   ├── orchestrator/    # Robot task orchestration (Rust gRPC)
│   ├── tower/           # Robot WebSocket server (Go)
│   └── plot/            # Floor plan polygon extraction (Python)
├── ts-schema/           # TypeScript schema generator (ts-rs)
├── shared/              # Shared Rust types (no_std compatible)
│   └── pathfinding/     # A* and triangulation-based routing
└── schematics/          # KiCad PCB designs for hardware

🚀 Getting Started

Prerequisites

• Rust 1.86+ (for server, beacon, admin/maintenance, shared, ts-schema, admin/orchestrator)
• Node.js 18+ with pnpm (for mobile, miniapp, ts-schema)
• Python 3.12+ with uv (for robot/vision, robot/audio, robot/intelligence, animations)
• Go 1.23+ (for admin/tower)
• Xcode 16+ (for vision app, iOS/macOS builds)
• just command runner
• ESP-IDF (for beacon development)

Quick Start

1. Clone the repository:

   git clone <repository-url>
   cd navign

2. Install dependencies:

   just init

   This will:

   • Install Rust tools (cargo-deny, cargo-shear, typos-cli)
   • Install pnpm dependencies for Node.js projects
   • Sync Python virtual environments with uv
   • Build all Rust components

3. Format code:

   just fmt

4. Lint and check:

   just lint

5. Fix issues automatically:

   just fix

📝 License

This project is licensed under the MIT License - see the LICENSE file for details.

Copyright © 2025 Navign