diff --git a/.github/workflows/pull-request.yml b/.github/workflows/pull-request.yml
index fc9df6eaed..d039e0f108 100644
--- a/.github/workflows/pull-request.yml
+++ b/.github/workflows/pull-request.yml
@@ -7,7 +7,7 @@ env:
   CARGO_HOME: /__w/hulk/cargo
   CARGO_TARGET_DIR: /__w/hulk/target
   CARGO_TERM_COLOR: always
-  NAOSDK_HOME: /__w/hulk/naosdk
+  HULK_DATA_HOME: /__w/hulk/data
   NAOSDK_AUTOMATIC_YES: 1
 
 jobs:
@@ -34,8 +34,9 @@ jobs:
         path:
           [
             .,
-            tools/aliveness,
-            tools/hula,
+            services/aliveness,
+            services/breeze,
+            services/hula,
           ]
     runs-on:
       - self-hosted
@@ -119,7 +120,34 @@ jobs:
           lfs: true
       - name: Build
         run: |
-          ./pepsi build --target ${{ matrix.target }} --profile ${{ matrix.profile }}
+          ./pepsi build --profile ${{ matrix.profile }} ${{ matrix.target }}
+
+  build_services:
+    name: Build
+    strategy:
+      matrix:
+        path:
+          [
+            services/aliveness,
+            services/breeze,
+            services/hula,
+          ]
+    runs-on:
+      - self-hosted
+      - v3
+    container:
+      image: ghcr.io/hulks/hulk-ci:1.81.0
+      options: --user=1000:1000
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Build
+        run: |
+          ./pepsi sdk install
+          . $(./pepsi sdk path)/environment-setup-corei7-64-aldebaran-linux
+          cd ${{ matrix.path }}
+          cargo build --release
 
   build_tools:
     name: Build
@@ -127,14 +155,12 @@ jobs:
       matrix:
         path:
           [
-            aliveness,
-            annotato,
-            camera_matrix_extractor,
-            depp,
-            fanta,
-            hula,
-            pepsi,
-            twix,
+            tools/annotato,
+            tools/camera_matrix_extractor,
+            tools/depp,
+            tools/fanta,
+            tools/pepsi,
+            tools/twix,
           ]
     runs-on:
       - self-hosted
@@ -148,5 +174,5 @@ jobs:
           lfs: true
       - name: Build
         run: |
-          cd tools/${{ matrix.path }}
+          cd ${{ matrix.path }}
           cargo build --release
diff --git a/.gitignore b/.gitignore
index 1ee9339eb9..d6862407d1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,7 +6,6 @@
 /.wiki/
 
 settings.json
-/naosdk
 
 *.edited
 *~
diff --git a/Cargo.lock b/Cargo.lock
index 91229fac93..ad5df3021c 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -142,7 +142,7 @@ name = "aliveness"
 version = "0.1.0"
 dependencies = [
  "futures-util",
- "hula-types",
+ "hula_types",
  "regex",
  "serde",
  "serde_json",
@@ -328,7 +328,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -520,7 +520,7 @@ checksum = "3b43422f69d8ff38f95f1b2bb76517c91589a924d1559a0e935d7c8ce0274c11"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -555,7 +555,7 @@ checksum = "721cae7de5c34fbb2acd27e21e6d2cf7b886dce0c27388d46c4e6c47ea4318dd"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -700,7 +700,7 @@ dependencies = [
  "flate2",
  "globset",
  "grep-cli",
- "nu-ansi-term",
+ "nu-ansi-term 0.47.0",
  "once_cell",
  "path_abs",
  "plist",
@@ -763,7 +763,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.86",
+ "syn 2.0.87",
  "which",
 ]
 
@@ -786,7 +786,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.86",
+ "syn 2.0.87",
  "which",
 ]
 
@@ -958,7 +958,7 @@ checksum = "bcfcc3cd946cb52f0bbfdbbcfa2f4e24f75ebb6c0e1002f7c25904fada18b9ec"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -1066,9 +1066,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.1.33"
+version = "1.1.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3788d6ac30243803df38a3e9991cf37e41210232916d41a8222ae378f912624"
+checksum = "67b9470d453346108f93a59222a9a1a5724db32d0a4727b7ab7ace4b4d822dc9"
 dependencies = [
  "jobserver",
  "libc",
@@ -1197,7 +1197,7 @@ dependencies = [
  "heck 0.5.0",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -1246,7 +1246,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "source_analyzer",
- "syn 2.0.86",
+ "syn 2.0.87",
  "thiserror",
 ]
 
@@ -1415,15 +1415,6 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
-[[package]]
-name = "constants"
-version = "0.1.0"
-dependencies = [
- "lazy_static",
- "serde",
- "toml",
-]
-
 [[package]]
 name = "content_inspector"
 version = "0.2.4"
@@ -1440,7 +1431,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -1683,7 +1674,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustc_version",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2046,7 +2037,7 @@ checksum = "a1ab991c1362ac86c61ab6f556cff143daa22e5a15e4e189df818b2fd19fe65b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2067,7 +2058,7 @@ checksum = "f282cfdfe92516eb26c2af8589c274c7c17681f5ecc03c18255fe741c6aa64eb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2079,7 +2070,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2100,7 +2091,7 @@ checksum = "de0d48a183585823424a4ce1aa132d174a6a81bd540895822eb4c8373a8e49e8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2111,7 +2102,7 @@ checksum = "2f9ed6b3789237c8a0c1c505af1c7eb2c560df6186f01b098c3a1064ea532f38"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2354,7 +2345,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2446,7 +2437,7 @@ checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -2926,7 +2917,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "df3b46402a9d5adb4c86a0cf463f42e19994e3ee891101b1841f30a545cb49a9"
 
 [[package]]
-name = "hula-types"
+name = "hula_types"
 version = "0.1.0"
 dependencies = [
  "serde",
@@ -3058,7 +3049,6 @@ dependencies = [
  "chrono",
  "clap 4.5.20",
  "color-eyre",
- "constants",
  "ctrlc",
  "enum-iterator",
  "fern",
@@ -3873,7 +3863,7 @@ checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -3881,6 +3871,7 @@ name = "nao"
 version = "0.1.0"
 dependencies = [
  "color-eyre",
+ "serde",
  "tokio",
 ]
 
@@ -4035,6 +4026,16 @@ dependencies = [
  "minimal-lexical",
 ]
 
+[[package]]
+name = "nu-ansi-term"
+version = "0.46.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
+dependencies = [
+ "overload",
+ "winapi",
+]
+
 [[package]]
 name = "nu-ansi-term"
 version = "0.47.0"
@@ -4068,7 +4069,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -4118,7 +4119,7 @@ dependencies = [
  "proc-macro-crate 3.2.0",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -4360,7 +4361,7 @@ checksum = "a948666b637a0f465e8564c73e89d4dde00d72d4d473cc972f390fc3dcee7d9c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -4469,6 +4470,12 @@ dependencies = [
  "pin-project-lite",
 ]
 
+[[package]]
+name = "overload"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
+
 [[package]]
 name = "owned_ttf_parser"
 version = "0.25.0"
@@ -4569,7 +4576,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -4580,7 +4587,7 @@ checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
 
 [[package]]
 name = "pepsi"
-version = "3.17.0"
+version = "4.0.0"
 dependencies = [
  "aliveness",
  "argument_parsers",
@@ -4588,10 +4595,11 @@ dependencies = [
  "clap 4.5.20",
  "clap_complete",
  "color-eyre",
- "constants",
  "futures-util",
+ "glob",
  "indicatif",
  "lazy_static",
+ "log",
  "nao",
  "opn",
  "regex",
@@ -4600,9 +4608,12 @@ dependencies = [
  "serde_json",
  "source_analyzer",
  "spl_network_messages",
+ "tempfile",
  "thiserror",
  "tokio",
  "toml",
+ "tracing",
+ "tracing-subscriber",
 ]
 
 [[package]]
@@ -4731,7 +4742,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "64d1ec885c64d0457d564db4ec299b2dae3f9c02808b8ad9c3a089c591b18033"
 dependencies = [
  "proc-macro2",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -5012,11 +5023,11 @@ name = "repository"
 version = "0.1.0"
 dependencies = [
  "color-eyre",
- "constants",
  "futures-util",
- "glob",
  "home",
  "itertools 0.10.5",
+ "log",
+ "nao",
  "parameters",
  "semver",
  "serde",
@@ -5026,6 +5037,7 @@ dependencies = [
  "tokio",
  "toml",
  "types",
+ "xdg",
 ]
 
 [[package]]
@@ -5263,7 +5275,7 @@ source = "git+https://github.com/HULKs/serde.git?rev=73d5e8e404a874ad90023810d63
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -5295,7 +5307,7 @@ checksum = "6c64451ba24fc7a6a2d60fc75dd9c83c90903b19028d4eff35e88fc1e86564e9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -5524,7 +5536,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "serde",
- "syn 2.0.86",
+ "syn 2.0.87",
  "thiserror",
  "threadbound",
  "toposort-scc",
@@ -5655,9 +5667,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.86"
+version = "2.0.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e89275301d38033efb81a6e60e3497e734dfcc62571f2854bf4b16690398824c"
+checksum = "25aa4ce346d03a6dcd68dd8b4010bcb74e54e62c90c573f394c46eae99aba32d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -5774,7 +5786,7 @@ checksum = "b08be0f17bd307950653ce45db00cd31200d82b624b36e181337d9c7d92765b5"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -5901,7 +5913,7 @@ checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -6015,7 +6027,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -6038,15 +6050,29 @@ dependencies = [
  "tracing-subscriber",
 ]
 
+[[package]]
+name = "tracing-log"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
+dependencies = [
+ "log",
+ "once_cell",
+ "tracing-core",
+]
+
 [[package]]
 name = "tracing-subscriber"
 version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
 dependencies = [
+ "nu-ansi-term 0.46.0",
  "sharded-slab",
+ "smallvec",
  "thread_local",
  "tracing-core",
+ "tracing-log",
 ]
 
 [[package]]
@@ -6383,7 +6409,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
  "wasm-bindgen-shared",
 ]
 
@@ -6417,7 +6443,7 @@ checksum = "26c6ab57572f7a24a4985830b120de1594465e5d500f24afe89e16b4e833ef68"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -6867,7 +6893,7 @@ checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -6889,7 +6915,7 @@ checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -7240,6 +7266,12 @@ version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0ef33da6b1660b4ddbfb3aef0ade110c8b8a781a3b6382fa5f2b5b040fd55f61"
 
+[[package]]
+name = "xdg"
+version = "2.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "213b7324336b53d2414b2db8537e56544d981803139155afa84f76eeebb7a546"
+
 [[package]]
 name = "xdg-home"
 version = "1.3.0"
@@ -7368,7 +7400,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
diff --git a/Cargo.toml b/Cargo.toml
index 150bb29c10..80b1c193ee 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,7 +10,6 @@ members = [
     "crates/calibration",
     "crates/code_generation",
     "crates/communication",
-    "crates/constants",
     "crates/context_attribute",
     "crates/control",
     "crates/coordinate_systems",
@@ -19,6 +18,7 @@ members = [
     "crates/framework",
     "crates/geometry",
     "crates/hardware",
+    "crates/hula_types",
     "crates/hulk",
     "crates/hulk_behavior_simulator",
     "crates/hulk_imagine",
@@ -50,12 +50,15 @@ members = [
     "tools/camera_matrix_extractor",
     "tools/depp",
     "tools/fanta",
-    "tools/hula/types",
     "tools/pepsi",
     "tools/twix",
 ]
-# HuLA and Aliveness are built independently by yocto
-exclude = ["tools/aliveness", "tools/breeze", "tools/hula"]
+# services are built independently by yocto
+exclude = [
+    "services/aliveness",
+    "services/breeze",
+    "services/hula"
+]
 
 [workspace.package]
 version = "0.1.0"
@@ -90,7 +93,6 @@ code_generation = { path = "crates/code_generation" }
 color-eyre = "0.6.2"
 communication = { path = "crates/communication" }
 compiled-nn = "0.12.0"
-constants = { path = "crates/constants" }
 context_attribute = { path = "crates/context_attribute" }
 control = { path = "crates/control" }
 convert_case = "0.6.0"
@@ -116,7 +118,7 @@ gilrs = "0.10.1"
 glob = "0.3.0"
 hardware = { path = "crates/hardware" }
 home = "0.5.4"
-hula-types = { path = "tools/hula/types" }
+hula_types = { path = "crates/hula_types" }
 hulk = { path = "crates/hulk" }
 hulk_manifest = { path = "crates/hulk_manifest" }
 i2cdev = "0.5.1"
@@ -185,6 +187,8 @@ systemd = "0.10.0"
 tempfile = "3.3.0"
 thiserror = "1.0.37"
 threadbound = "0.1.6"
+tracing = "0.1.40"
+tracing-subscriber = "0.3.18"
 tokio = { version = "1.21.2", features = ["full"] }
 tokio-tungstenite = "0.19.0"
 tokio-util = "0.7.4"
@@ -198,6 +202,7 @@ walkdir = "2.3.2"
 walking_engine = { path = "crates/walking_engine" }
 watch = "0.2.3"
 webots = { version = "0.8.0" }
+xdg = "2.5.2"
 zbus = { version = "3.7.0" }
 
 [patch.crates-io]
diff --git a/crates/aliveness/Cargo.toml b/crates/aliveness/Cargo.toml
index 29174aa074..0f83f588cd 100644
--- a/crates/aliveness/Cargo.toml
+++ b/crates/aliveness/Cargo.toml
@@ -7,7 +7,7 @@ homepage.workspace = true
 
 [dependencies]
 futures-util = { workspace = true }
-hula-types = { path = "../../tools/hula/types/" }
+hula_types = { workspace = true }
 regex = { workspace = true }
 serde = { workspace = true }
 serde_json = { workspace = true }
diff --git a/crates/constants/Cargo.toml b/crates/constants/Cargo.toml
deleted file mode 100644
index ada9adf374..0000000000
--- a/crates/constants/Cargo.toml
+++ /dev/null
@@ -1,11 +0,0 @@
-[package]
-name = "constants"
-version.workspace = true
-edition.workspace = true
-license.workspace = true
-homepage.workspace = true
-
-[dependencies]
-lazy_static = {workspace = true}
-serde = {workspace = true}
-toml = {workspace = true}
diff --git a/crates/constants/src/lib.rs b/crates/constants/src/lib.rs
deleted file mode 100644
index bc30e777e9..0000000000
--- a/crates/constants/src/lib.rs
+++ /dev/null
@@ -1,32 +0,0 @@
-use lazy_static::lazy_static;
-use serde::{Deserialize, Serialize};
-
-pub const HULA_DBUS_INTERFACE: &str = "org.hulks.hula";
-pub const HULA_DBUS_PATH: &str = "/org/hulks/HuLA";
-pub const HULA_DBUS_SERVICE: &str = "org.hulks.hula";
-pub const HULA_SOCKET_PATH: &str = "/tmp/hula";
-pub const OS_IS_NOT_LINUX: bool = !cfg!(target_os = "linux");
-pub const OS_RELEASE_PATH: &str = "/etc/os-release";
-pub const OS_VERSION: &str = "7.5.7";
-pub const SDK_VERSION: &str = "7.5.0";
-
-#[derive(Serialize, Deserialize)]
-pub struct Team {
-    pub team_number: u8,
-    pub naos: Vec<Nao>,
-}
-
-#[derive(Serialize, Deserialize)]
-pub struct Nao {
-    pub number: u8,
-    pub hostname: String,
-    pub body_id: String,
-    pub head_id: String,
-}
-
-lazy_static! {
-    pub static ref TEAM: Team = {
-        let content = include_str!("../../../etc/parameters/team.toml");
-        toml::from_str(content).unwrap()
-    };
-}
diff --git a/tools/hula/types/Cargo.toml b/crates/hula_types/Cargo.toml
similarity index 89%
rename from tools/hula/types/Cargo.toml
rename to crates/hula_types/Cargo.toml
index 7ea2e993e5..149facbf4b 100644
--- a/tools/hula/types/Cargo.toml
+++ b/crates/hula_types/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "hula-types"
+name = "hula_types"
 version = "0.1.0"
 edition.workspace = true
 license.workspace = true
diff --git a/tools/hula/types/src/control_frame.rs b/crates/hula_types/src/control_frame.rs
similarity index 100%
rename from tools/hula/types/src/control_frame.rs
rename to crates/hula_types/src/control_frame.rs
diff --git a/tools/hula/types/src/lib.rs b/crates/hula_types/src/lib.rs
similarity index 100%
rename from tools/hula/types/src/lib.rs
rename to crates/hula_types/src/lib.rs
diff --git a/tools/hula/types/src/lola.rs b/crates/hula_types/src/lola.rs
similarity index 100%
rename from tools/hula/types/src/lola.rs
rename to crates/hula_types/src/lola.rs
diff --git a/tools/hula/types/src/robot_state.rs b/crates/hula_types/src/robot_state.rs
similarity index 100%
rename from tools/hula/types/src/robot_state.rs
rename to crates/hula_types/src/robot_state.rs
diff --git a/crates/hulk_nao/Cargo.toml b/crates/hulk_nao/Cargo.toml
index c803c5de3e..52d0100fd8 100644
--- a/crates/hulk_nao/Cargo.toml
+++ b/crates/hulk_nao/Cargo.toml
@@ -11,7 +11,6 @@ ball_filter = { workspace = true }
 chrono = { workspace = true }
 clap = { workspace = true }
 color-eyre = { workspace = true }
-constants = { workspace = true }
 ctrlc = { workspace = true }
 enum-iterator = { workspace = true }
 fern = { workspace = true }
diff --git a/crates/hulk_nao/src/hula_wrapper.rs b/crates/hulk_nao/src/hula_wrapper.rs
index 6b41446d1d..5f1c4e4de1 100644
--- a/crates/hulk_nao/src/hula_wrapper.rs
+++ b/crates/hulk_nao/src/hula_wrapper.rs
@@ -12,7 +12,8 @@ use super::{
     double_buffered_reader::{DoubleBufferedReader, SelectPoller},
     hula::{read_from_hula, write_to_hula, ControlStorage, StateStorage},
 };
-use constants::HULA_SOCKET_PATH;
+
+pub const HULA_SOCKET_PATH: &str = "/tmp/hula";
 
 pub struct HulaWrapper {
     now: RwLock<SystemTime>,
diff --git a/crates/nao/Cargo.toml b/crates/nao/Cargo.toml
index 7c931bcdf8..ca5d977e1e 100644
--- a/crates/nao/Cargo.toml
+++ b/crates/nao/Cargo.toml
@@ -7,4 +7,5 @@ homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
+serde = { workspace = true }
 tokio = { workspace = true }
diff --git a/crates/nao/src/lib.rs b/crates/nao/src/lib.rs
index bfeaabdfbe..db4f6e663b 100644
--- a/crates/nao/src/lib.rs
+++ b/crates/nao/src/lib.rs
@@ -3,36 +3,62 @@ use std::{
     net::Ipv4Addr,
     path::Path,
     process::Stdio,
+    time::Duration,
 };
 
 use color_eyre::{
-    eyre::{bail, eyre, WrapErr},
+    eyre::{self, bail, eyre, WrapErr},
     Result,
 };
+use serde::Deserialize;
 use tokio::{
     io::{AsyncBufReadExt, BufReader},
     process::{Child, Command},
     select,
 };
 
-pub const PING_TIMEOUT_SECONDS: u32 = 2;
+const PING_TIMEOUT: Duration = Duration::from_secs(2);
+
+const NAO_SSH_FLAGS: &[&str] = &[
+    "-lnao",
+    "-oLogLevel=quiet",
+    "-oStrictHostKeyChecking=no",
+    "-oUserKnownHostsFile=/dev/null",
+];
+
+#[derive(Debug, Deserialize, Hash, Eq, PartialEq)]
+#[serde(try_from = "String")]
+pub struct NaoNumber {
+    pub id: u8,
+}
+
+impl TryFrom<String> for NaoNumber {
+    type Error = eyre::Error;
+
+    fn try_from(value: String) -> Result<Self> {
+        let id = value
+            .parse()
+            .wrap_err_with(|| format!("failed to parse `{value}` into Nao number"))?;
+        Ok(Self { id })
+    }
+}
 
 pub struct Nao {
-    pub host: Ipv4Addr,
+    pub address: Ipv4Addr,
 }
 
 impl Nao {
-    pub fn new(host: Ipv4Addr) -> Self {
-        Self { host }
+    pub fn new(address: Ipv4Addr) -> Self {
+        Self { address }
     }
 
     pub async fn try_new_with_ping(host: Ipv4Addr) -> Result<Self> {
-        Self::try_new_with_ping_and_arguments(host, PING_TIMEOUT_SECONDS).await
+        Self::try_new_with_ping_and_arguments(host, PING_TIMEOUT).await
     }
 
     pub async fn try_new_with_ping_and_arguments(
         host: Ipv4Addr,
-        timeout_seconds: u32,
+        timeout: Duration,
     ) -> Result<Self> {
         #[cfg(target_os = "macos")]
         const TIMEOUT_FLAG: &str = "-t";
@@ -43,7 +69,7 @@ impl Nao {
             .arg("-c")
             .arg("1")
             .arg(TIMEOUT_FLAG)
-            .arg(timeout_seconds.to_string())
+            .arg(timeout.as_secs().to_string())
             .arg(host.to_string())
             .output()
             .await
@@ -65,27 +91,18 @@ impl Nao {
         extract_version_number(&stdout).ok_or_else(|| eyre!("could not extract version number"))
     }
 
-    fn get_ssh_flags(&self) -> Vec<String> {
-        vec![
-            "-lnao".to_string(),
-            "-oLogLevel=quiet".to_string(),
-            "-oStrictHostKeyChecking=no".to_string(),
-            "-oUserKnownHostsFile=/dev/null".to_string(),
-        ]
-    }
-
     fn ssh_to_nao(&self) -> Command {
         let mut command = Command::new("ssh");
-        for flag in self.get_ssh_flags() {
+        for flag in NAO_SSH_FLAGS {
             command.arg(flag);
         }
-        command.arg(self.host.to_string());
+        command.arg(self.address.to_string());
         command
     }
 
     pub fn rsync_with_nao(&self, mkpath: bool) -> Command {
         let mut command = Command::new("rsync");
-        let ssh_flags = self.get_ssh_flags().join(" ");
+        let ssh_flags = NAO_SSH_FLAGS.join(" ");
         command
             .stdout(Stdio::piped())
             .arg("--recursive")
@@ -183,7 +200,7 @@ impl Nao {
         let rsync = self
             .rsync_with_nao(true)
             .arg("--info=progress2")
-            .arg(format!("{}:hulk/logs/", self.host))
+            .arg(format!("{}:hulk/logs/", self.address))
             .arg(local_directory.as_ref().to_str().unwrap())
             .spawn()
             .wrap_err("failed to execute rsync command")?;
@@ -259,6 +276,7 @@ impl Nao {
     pub async fn upload(
         &self,
         local_directory: impl AsRef<Path>,
+        remote_directory: impl AsRef<Path>,
         delete_remaining: bool,
         progress_callback: impl Fn(&str),
     ) -> Result<()> {
@@ -268,7 +286,11 @@ impl Nao {
             .arg("--copy-links")
             .arg("--info=progress2")
             .arg(format!("{}/", local_directory.as_ref().display()))
-            .arg(format!("{}:hulk/", self.host));
+            .arg(format!(
+                "{}:{}/",
+                self.address,
+                remote_directory.as_ref().display()
+            ));
 
         if delete_remaining {
             command.arg("--delete").arg("--delete-excluded");
@@ -335,7 +357,7 @@ impl Nao {
         Ok(())
     }
 
-    pub async fn set_network(&self, network: Network) -> Result<()> {
+    pub async fn set_wifi(&self, network: Network) -> Result<()> {
         let command_string = [
             Network::SplA,
             Network::SplB,
@@ -389,7 +411,7 @@ impl Nao {
             .arg("--copy-links")
             .arg("--info=progress2")
             .arg(image_path.as_ref().to_str().unwrap())
-            .arg(format!("{}:/data/.image/", self.host))
+            .arg(format!("{}:/data/.image/", self.address))
             .spawn()
             .wrap_err("failed to execute rsync command")?;
 
@@ -400,7 +422,7 @@ impl Nao {
 
 impl Display for Nao {
     fn fmt(&self, formatter: &mut Formatter<'_>) -> fmt::Result {
-        Display::fmt(&self.host, formatter)
+        Display::fmt(&self.address, formatter)
     }
 }
 
diff --git a/crates/parameters/src/directory.rs b/crates/parameters/src/directory.rs
index 86568d9c74..e49fe73177 100644
--- a/crates/parameters/src/directory.rs
+++ b/crates/parameters/src/directory.rs
@@ -122,7 +122,7 @@ pub fn serialize<Parameters>(
     parameters: &Parameters,
     scope: Scope,
     path: &str,
-    parameters_root_path: impl AsRef<Path>,
+    parameters_root: impl AsRef<Path>,
     hardware_ids: &Ids,
 ) -> Result<(), DirectoryError>
 where
@@ -131,7 +131,7 @@ where
     let mut parameters =
         to_value(parameters).map_err(DirectoryError::ParametersNotConvertedToJsonValue)?;
     let stored_parameters = to_value(
-        deserialize::<Parameters>(&parameters_root_path, hardware_ids, true).map_err(|error| {
+        deserialize::<Parameters>(&parameters_root, hardware_ids, true).map_err(|error| {
             println!("{:?}", error);
             error
         })?,
@@ -143,7 +143,7 @@ where
     let Some(sparse_parameters_from_scope_path) = clone_nested_value(&parameters, path) else {
         return Ok(());
     };
-    let serialization_file_path = file_path_from_scope(scope, parameters_root_path, hardware_ids);
+    let serialization_file_path = file_path_from_scope(scope, parameters_root, hardware_ids);
     let mut parameters = if serialization_file_path.exists() {
         read_from_file(&serialization_file_path)
             .map_err(DirectoryError::HeadParametersOfLocationNotGet)?
diff --git a/crates/repository/Cargo.toml b/crates/repository/Cargo.toml
index f5e28cf0f0..4e5e11b4c6 100644
--- a/crates/repository/Cargo.toml
+++ b/crates/repository/Cargo.toml
@@ -7,11 +7,11 @@ homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
-constants = { workspace = true }
 futures-util = { workspace = true }
-glob = { workspace = true }
 home = { workspace = true }
 itertools = { workspace = true }
+log = { workspace = true }
+nao = { workspace = true }
 parameters = { workspace = true }
 semver = { workspace = true }
 serde = { workspace = true }
@@ -21,3 +21,4 @@ tempfile = { workspace = true }
 tokio = { workspace = true }
 toml = { workspace = true }
 types = { workspace = true }
+xdg = { workspace = true }
diff --git a/crates/repository/src/cargo.rs b/crates/repository/src/cargo.rs
new file mode 100644
index 0000000000..f1a1cc61d1
--- /dev/null
+++ b/crates/repository/src/cargo.rs
@@ -0,0 +1,218 @@
+use std::path::Path;
+
+use color_eyre::{
+    eyre::{bail, Context, ContextCompat},
+    Result,
+};
+use log::info;
+use tokio::process::Command;
+
+use crate::data_home::get_data_home;
+
+pub enum Executor {
+    Native,
+    Docker,
+}
+
+pub struct Environment {
+    pub executor: Executor,
+    pub version: String,
+}
+
+pub enum Cargo {
+    Native,
+    Sdk { environment: Environment },
+}
+
+impl Cargo {
+    pub fn native() -> Self {
+        Cargo::Native
+    }
+
+    pub fn sdk(environment: Environment) -> Self {
+        Cargo::Sdk { environment }
+    }
+
+    pub fn command<'a>(
+        self,
+        sub_command: &'a str,
+        repository_root: &'a Path,
+    ) -> Result<CargoCommand<'a>> {
+        Ok(CargoCommand {
+            cargo: self,
+            sub_command,
+            repository_root,
+            manifest_path: None,
+            profile: None,
+            workspace: false,
+            all_features: false,
+            all_targets: false,
+            features: None,
+            passthrough_arguments: None,
+        })
+    }
+}
+
+pub struct CargoCommand<'a> {
+    cargo: Cargo,
+    sub_command: &'a str,
+    repository_root: &'a Path,
+    manifest_path: Option<&'a Path>,
+    profile: Option<&'a str>,
+    workspace: bool,
+    all_features: bool,
+    all_targets: bool,
+    features: Option<&'a [String]>,
+    passthrough_arguments: Option<&'a [String]>,
+}
+
+impl<'a> CargoCommand<'a> {
+    pub fn manifest_path(&mut self, manifest_path: &'a Path) -> Result<()> {
+        if !manifest_path.is_relative() {
+            bail!("manifest path must be relative to repository root")
+        }
+        self.manifest_path = Some(manifest_path);
+        Ok(())
+    }
+
+    pub fn profile(&mut self, profile: &'a str) {
+        self.profile = Some(profile);
+    }
+
+    pub fn workspace(&mut self) {
+        self.workspace = true;
+    }
+
+    pub fn all_features(&mut self) {
+        self.all_features = true;
+    }
+
+    pub fn all_targets(&mut self) {
+        self.all_targets = true;
+    }
+
+    pub fn features(&mut self, features: &'a [String]) {
+        self.features = Some(features);
+    }
+
+    pub fn passthrough_arguments(&mut self, passthrough_arguments: &'a [String]) {
+        self.passthrough_arguments = Some(passthrough_arguments);
+    }
+
+    pub fn shell_command(self) -> Result<String> {
+        let mut cargo_arguments = String::new();
+
+        if let Some(manifest_path) = self.manifest_path {
+            cargo_arguments.push_str(&format!(
+                "--manifest-path {path}",
+                path = manifest_path
+                    .to_str()
+                    .wrap_err("failed to convert manifest path to string")?
+            ));
+        }
+        if let Some(profile) = self.profile {
+            cargo_arguments.push_str(&format!(" --profile {profile}"));
+        }
+        if self.workspace {
+            cargo_arguments.push_str(" --workspace");
+        }
+        if self.all_features {
+            cargo_arguments.push_str(" --all-features");
+        }
+        if self.all_targets {
+            cargo_arguments.push_str(" --all-targets");
+        }
+        if let Some(features) = self.features {
+            cargo_arguments.push_str(" --features ");
+            cargo_arguments.push_str(&features.join(","));
+        }
+        if let Some(passthrough_arguments) = self.passthrough_arguments {
+            cargo_arguments.push_str(" -- ");
+            cargo_arguments.push_str(&passthrough_arguments.join(" "));
+        }
+
+        let shell_command = match self.cargo {
+            Cargo::Native => {
+                format!(
+                    "cd {repository_root} && cargo {command} {cargo_arguments}",
+                    repository_root = self
+                        .repository_root
+                        .to_str()
+                        .wrap_err("failed to convert repository root to string")?,
+                    command = self.sub_command,
+                )
+            }
+            Cargo::Sdk {
+                environment:
+                    Environment {
+                        executor: Executor::Native,
+                        version,
+                    },
+            } => {
+                let data_home = get_data_home().wrap_err("failed to get data home")?;
+                let environment_file = &data_home.join(format!(
+                    "sdk/{version}/environment-setup-corei7-64-aldebaran-linux"
+                ));
+                let sdk_environment_setup = environment_file
+                    .to_str()
+                    .wrap_err("failed to convert sdk environment setup path to string")?;
+                let cargo_command = format!(
+                    "cargo {command} {cargo_arguments}",
+                    command = self.sub_command,
+                );
+                format!(
+                    "cd {repository_root} && . {sdk_environment_setup} && {cargo_command}",
+                    repository_root = self
+                        .repository_root
+                        .to_str()
+                        .wrap_err("failed to convert repository root to string")?,
+                )
+            }
+            Cargo::Sdk {
+                environment:
+                    Environment {
+                        executor: Executor::Docker,
+                        version,
+                    },
+            } => {
+                let data_home = get_data_home().wrap_err("failed to get data home")?;
+                let cargo_home = data_home.join("container-cargo-home/");
+                format!("\
+                    mkdir -p {cargo_home} &&
+                    docker run \
+                        --volume={repository_root}:/hulk:z \
+                        --volume={cargo_home}:/naosdk/sysroots/corei7-64-aldebaran-linux/home/cargo:Z \
+                        --rm \
+                        --interactive \
+                        --tty ghcr.io/hulks/naosdk:{version} \
+                        /bin/bash -c \"\
+                            cd /hulk && \
+                            . /naosdk/environment-setup-corei7-64-aldebaran-linux && \
+                            cargo {command} {cargo_arguments}\
+                        \"
+                    ",
+                    repository_root=self.repository_root.to_str().wrap_err("failed to convert repository root to string")?,
+                    cargo_home=cargo_home.to_str().wrap_err("failed to convert cargo home to string")?,
+                    command=self.sub_command,
+                )
+            }
+        };
+        Ok(shell_command)
+    }
+}
+
+pub async fn run_shell(command: &str) -> Result<()> {
+    info!("Executing command: `{command}`");
+
+    let status = Command::new("sh")
+        .arg("-c")
+        .arg(command)
+        .status()
+        .await
+        .wrap_err("failed to execute cargo command")?;
+
+    if !status.success() {
+        bail!("cargo command exited with {status}");
+    }
+    Ok(())
+}
diff --git a/crates/repository/src/communication.rs b/crates/repository/src/communication.rs
new file mode 100644
index 0000000000..173093da11
--- /dev/null
+++ b/crates/repository/src/communication.rs
@@ -0,0 +1,35 @@
+use std::path::Path;
+
+use color_eyre::{eyre::Context, Result};
+use serde_json::Value;
+
+use crate::modify_json::modify_json_inplace;
+
+pub async fn configure_communication(
+    enable: bool,
+    repository_root: impl AsRef<Path>,
+) -> Result<()> {
+    let framework_json = repository_root
+        .as_ref()
+        .join("etc/parameters/framework.json");
+
+    let address = if enable {
+        Value::String("[::]:1337".to_string())
+    } else {
+        Value::Null
+    };
+
+    modify_json_inplace(&framework_json, |mut hardware_json: Value| {
+        hardware_json["communication_addresses"] = address;
+        hardware_json
+    })
+    .await
+    .wrap_err_with(|| {
+        format!(
+            "failed to configure communication address in {}",
+            framework_json.display()
+        )
+    })?;
+
+    Ok(())
+}
diff --git a/crates/repository/src/configuration.rs b/crates/repository/src/configuration.rs
new file mode 100644
index 0000000000..ebd15ea1d7
--- /dev/null
+++ b/crates/repository/src/configuration.rs
@@ -0,0 +1,32 @@
+use std::path::Path;
+
+use color_eyre::{eyre::Context, Result};
+use serde::Deserialize;
+use tokio::fs::read_to_string;
+
+#[derive(Debug, Deserialize)]
+pub struct Configuration {
+    pub os_version: String,
+    pub sdk_version: String,
+}
+
+/// Get the OS version configured in the `hulk.toml`.
+pub async fn read_os_version(repository_root: impl AsRef<Path>) -> Result<String> {
+    let hulk = read_hulk_toml(repository_root).await?;
+    Ok(hulk.os_version)
+}
+
+/// Get the SDK version configured in the `hulk.toml`.
+pub async fn read_sdk_version(repository_root: impl AsRef<Path>) -> Result<String> {
+    let hulk = read_hulk_toml(repository_root).await?;
+    Ok(hulk.sdk_version)
+}
+
+pub async fn read_hulk_toml(repository_root: impl AsRef<Path>) -> Result<Configuration> {
+    let hulk_toml = repository_root.as_ref().join("hulk.toml");
+    let hulk_toml = read_to_string(hulk_toml)
+        .await
+        .wrap_err("failed to read hulk.toml")?;
+    let hulk: Configuration = toml::from_str(&hulk_toml).wrap_err("failed to parse hulk.toml")?;
+    Ok(hulk)
+}
diff --git a/crates/repository/src/data_home.rs b/crates/repository/src/data_home.rs
new file mode 100644
index 0000000000..e05c0fef34
--- /dev/null
+++ b/crates/repository/src/data_home.rs
@@ -0,0 +1,17 @@
+use std::{env, path::PathBuf};
+
+use color_eyre::Result;
+
+/// Get the data home directory.
+///
+/// This function returns the directory where hulk stores its data. The directory is determined by
+/// the `HULK_DATA_HOME` environment variable. If the environment variable is not set, the
+/// user-specific data directory (set by `XDG_DATA_HOME`) is used.
+pub fn get_data_home() -> Result<PathBuf> {
+    if let Ok(home) = env::var("HULK_DATA_HOME") {
+        return Ok(PathBuf::from(home));
+    }
+
+    let base_directories = xdg::BaseDirectories::with_prefix("hulk")?;
+    Ok(base_directories.get_data_home())
+}
diff --git a/crates/repository/src/download.rs b/crates/repository/src/download.rs
new file mode 100644
index 0000000000..c2a22e7c91
--- /dev/null
+++ b/crates/repository/src/download.rs
@@ -0,0 +1,45 @@
+use std::{ffi::OsStr, time::Duration};
+
+use color_eyre::{
+    eyre::{bail, Context},
+    Result,
+};
+use log::info;
+use tokio::process::Command;
+
+pub const CONNECT_TIMEOUT: Duration = Duration::from_secs(5);
+
+/// Download a file from a list of URLs using `curl`.
+///
+/// This function takes a list of URLs to download from, a path to the output file,
+/// and a connection timeout duration. It tries to download the file from each URL
+/// in the list until it succeeds or runs out of URLs.
+pub async fn download_with_fallback(
+    urls: impl IntoIterator<Item = impl AsRef<OsStr>>,
+    output_path: impl AsRef<OsStr>,
+    connect_timeout: Duration,
+) -> Result<()> {
+    for url in urls.into_iter() {
+        let url = url.as_ref();
+        info!("Downloading from {url:?}");
+
+        let status = Command::new("curl")
+            .arg("--connect-timeout")
+            .arg(connect_timeout.as_secs_f32().to_string())
+            .arg("--fail")
+            .arg("--location")
+            .arg("--progress-bar")
+            .arg("--output")
+            .arg(&output_path)
+            .arg(url)
+            .status()
+            .await
+            .wrap_err("failed to spawn command")?;
+
+        if status.success() {
+            return Ok(());
+        }
+    }
+
+    bail!("failed to download from any URL");
+}
diff --git a/crates/repository/src/find_root.rs b/crates/repository/src/find_root.rs
new file mode 100644
index 0000000000..6d7c204193
--- /dev/null
+++ b/crates/repository/src/find_root.rs
@@ -0,0 +1,25 @@
+use std::{
+    env::var_os,
+    path::{Path, PathBuf},
+};
+
+/// Get the repository root directory.
+///
+/// This function searches for the `hulk.toml` in the start directory and its ancestors.
+/// If found, it returns the path to the directory containing the `hulk.toml`. If not, it falls
+/// back to the HULK_DEFAULT_ROOT environment variable.
+pub fn find_repository_root(start: impl AsRef<Path>) -> Option<PathBuf> {
+    let ancestors = start.as_ref().ancestors();
+    ancestors
+        .filter_map(|ancestor| std::fs::read_dir(ancestor).ok())
+        .flatten()
+        .find_map(|entry| {
+            let entry = entry.ok()?;
+            if entry.file_name() == "hulk.toml" {
+                Some(entry.path().parent()?.to_path_buf())
+            } else {
+                None
+            }
+        })
+        .or_else(|| var_os("HULK_DEFAULT_ROOT").map(PathBuf::from))
+}
diff --git a/crates/repository/src/image.rs b/crates/repository/src/image.rs
new file mode 100644
index 0000000000..16350e8a7e
--- /dev/null
+++ b/crates/repository/src/image.rs
@@ -0,0 +1,42 @@
+use std::path::{Path, PathBuf};
+
+use color_eyre::{eyre::Context, Result};
+use tokio::fs::{create_dir_all, rename};
+
+use crate::download::{download_with_fallback, CONNECT_TIMEOUT};
+
+/// Downloads the NAO image for a specified version.
+///
+/// This function ensures the NAO image is downloaded. If the image is already exists, it will
+/// do nothing. If not, it will try to download it.
+///
+/// Returns the path to the downloaded image.
+pub async fn download_image(version: &str, data_home: impl AsRef<Path>) -> Result<PathBuf> {
+    let data_home = data_home.as_ref();
+    let downloads_directory = data_home.join("image/");
+    let image_name = format!("nao-image-HULKs-OS-{version}.ext3.gz.opn");
+    let image_path = downloads_directory.join(&image_name);
+    let download_path = image_path.with_extension("tmp");
+
+    if image_path.exists() {
+        return Ok(image_path);
+    }
+
+    create_dir_all(&downloads_directory)
+        .await
+        .wrap_err("failed to create download directory")?;
+
+    let urls = [
+        format!("http://bighulk.hulks.dev/image/{image_name}"),
+        format!("https://github.com/HULKs/meta-nao/releases/download/{version}/{image_name}"),
+    ];
+    download_with_fallback(urls, &download_path, CONNECT_TIMEOUT)
+        .await
+        .wrap_err("failed to download image")?;
+
+    rename(download_path, &image_path)
+        .await
+        .wrap_err("failed to rename image")?;
+
+    Ok(image_path)
+}
diff --git a/crates/repository/src/inspect_version.rs b/crates/repository/src/inspect_version.rs
new file mode 100644
index 0000000000..f48b638296
--- /dev/null
+++ b/crates/repository/src/inspect_version.rs
@@ -0,0 +1,51 @@
+use std::{fs::read_to_string, path::Path};
+
+use color_eyre::{eyre::Context, Result};
+use log::warn;
+use semver::Version;
+use serde::Deserialize;
+
+#[derive(Deserialize, Debug)]
+struct Cargo {
+    package: Package,
+}
+
+#[derive(Deserialize, Debug)]
+struct Package {
+    version: String,
+}
+
+/// Inspects and returns the version of a package from its `Cargo.toml` file.
+pub fn inspect_version(toml_path: impl AsRef<Path>) -> Result<Version> {
+    let toml_path = toml_path.as_ref();
+    let cargo_toml_text = read_to_string(toml_path).wrap_err("failed to read file")?;
+    let cargo_toml: Cargo = toml::from_str(&cargo_toml_text).wrap_err("failed to parse content")?;
+    let raw_version = &cargo_toml.package.version;
+    let version = Version::parse(raw_version)
+        .wrap_err_with(|| format!("failed to parse version '{raw_version}' as SemVer"))?;
+    Ok(version)
+}
+
+/// Checks whether the package has a newer version than the provided version.
+pub fn check_for_update(own_version: &str, cargo_toml: impl AsRef<Path>) -> Result<()> {
+    let own_version = Version::parse(own_version)
+        .wrap_err_with(|| format!("failed to parse own version '{own_version}' as SemVer"))?;
+    let cargo_toml_version = inspect_version(&cargo_toml).wrap_err_with(|| {
+        format!(
+            "failed to inspect version of package at {}",
+            cargo_toml.as_ref().display()
+        )
+    })?;
+    if own_version < cargo_toml_version {
+        let crate_path = cargo_toml.as_ref().parent().unwrap();
+        warn!(
+            "New version available!
+        Own version: {own_version}
+        New version: {cargo_toml_version}
+        To install new version use:
+            cargo install --path {}",
+            crate_path.display()
+        );
+    }
+    Ok(())
+}
diff --git a/crates/repository/src/lib.rs b/crates/repository/src/lib.rs
index 0459653e4d..52902670cc 100644
--- a/crates/repository/src/lib.rs
+++ b/crates/repository/src/lib.rs
@@ -1,707 +1,21 @@
-use std::{
-    collections::{BTreeMap, BTreeSet, HashMap},
-    env::{self, consts::ARCH, current_dir},
-    ffi::OsStr,
-    fmt::Display,
-    fs::Permissions,
-    io::{self, ErrorKind},
-    os::unix::prelude::PermissionsExt,
-    path::{Path, PathBuf},
-    time::Duration,
-};
-
-use color_eyre::{
-    eyre::{bail, eyre, Context},
-    Result,
-};
-use futures_util::{stream::FuturesUnordered, StreamExt};
-use glob::glob;
-use home::home_dir;
-use itertools::intersperse;
-use parameters::{
-    directory::{serialize, Id, Location, Scope},
-    json::nest_value_at_path,
-};
-use semver::Version;
-use serde::Deserialize;
-use serde_json::{from_str, to_string_pretty, to_value, Value};
-use tempfile::{tempdir, TempDir};
-use tokio::{
-    fs::{
-        create_dir_all, read_dir, read_link, read_to_string, remove_dir_all, remove_file, rename,
-        set_permissions, symlink, try_exists, write, File,
-    },
-    io::AsyncReadExt,
-    process::Command,
-};
-
-use constants::{Team, OS_IS_NOT_LINUX, SDK_VERSION};
-use spl_network_messages::PlayerNumber;
-use types::hardware::Ids;
-
-const CONNECT_TIMEOUT: Duration = Duration::from_secs(5);
-
-#[derive(Clone)]
-pub struct Repository {
-    root: PathBuf,
-}
-
-impl Repository {
-    pub fn new(root: impl AsRef<Path>) -> Self {
-        Self {
-            root: root.as_ref().to_path_buf(),
-        }
-    }
-
-    pub fn crates_directory(&self) -> PathBuf {
-        self.root.join("crates")
-    }
-
-    pub fn parameters_root(&self) -> PathBuf {
-        self.root.join("etc/parameters")
-    }
-
-    pub fn find_latest_file(&self, pattern: &str) -> Result<PathBuf> {
-        let path = self.root.join(pattern);
-        let matching_paths: Vec<_> = glob(
-            path.to_str()
-                .ok_or_else(|| eyre!("failed to interpret path as Unicode"))?,
-        )
-        .wrap_err("failed to execute glob() over target directory")?
-        .map(|entry| {
-            let path = entry.wrap_err("failed to get glob() entry")?;
-            let metadata = path
-                .metadata()
-                .wrap_err_with(|| format!("failed to get metadata of path {path:?}"))?;
-            let modified_time = metadata.modified().wrap_err_with(|| {
-                format!("failed to get modified time from metadata of path {path:?}")
-            })?;
-            Ok((path, modified_time))
-        })
-        .collect::<Result<_>>()
-        .wrap_err("failed to get matching paths")?;
-        let (path_with_maximal_modified_time, _modified_time) = matching_paths
-            .iter()
-            .max_by_key(|(_path, modified_time)| modified_time)
-            .ok_or_else(|| eyre!("failed to find any matching path"))?;
-        Ok(path_with_maximal_modified_time.to_path_buf())
-    }
-
-    pub fn check_new_version_available(
-        &self,
-        own_version: &str,
-        path: impl AsRef<Path>,
-    ) -> Result<Option<(Version, Version)>> {
-        #[derive(Deserialize, Debug)]
-        struct Cargo {
-            package: Package,
-        }
-        #[derive(Deserialize, Debug)]
-        struct Package {
-            version: String,
-        }
-
-        let absolute_path = self.root.join(&path);
-        let own_version = Version::parse(own_version).wrap_err("failed to parse own version")?;
-        let cargo_toml_path = absolute_path.join("Cargo.toml");
-        let cargo_toml_text = std::fs::read_to_string(&cargo_toml_path).wrap_err_with(|| {
-            format!(
-                "failed to load cargo toml at {}",
-                cargo_toml_path.to_str().unwrap()
-            )
-        })?;
-        let cargo_toml: Cargo = toml::from_str(&cargo_toml_text).wrap_err_with(|| {
-            format!(
-                "failed to parse package version from {}",
-                cargo_toml_path.to_str().unwrap()
-            )
-        })?;
-        let cargo_toml_version = Version::parse(&cargo_toml.package.version).unwrap();
-
-        if own_version < cargo_toml_version {
-            println!("New version available!");
-            println!("Own version: {own_version}");
-            println!("New version: {cargo_toml_version}");
-            println!("To install new version use:");
-            println!();
-            println!("  cargo install --path {}", absolute_path.to_str().unwrap());
-            println!();
-            Ok(Some((own_version, cargo_toml_version)))
-        } else {
-            Ok(None)
-        }
-    }
-
-    async fn cargo(
-        &self,
-        action: CargoAction,
-        workspace: bool,
-        profile: &str,
-        target: &str,
-        features: Option<Vec<String>>,
-        passthrough_arguments: &[String],
-    ) -> Result<()> {
-        let use_docker = target == "nao" && OS_IS_NOT_LINUX;
-
-        let cargo_command = format!("cargo {action} ")
-            + format!("--profile {profile} ").as_str()
-            + if let Some(features) = features {
-                let features = features.join(",");
-                format!("--features {features} ")
-            } else {
-                String::new()
-            }
-            .as_str()
-            + if workspace {
-                "--workspace --all-features --all-targets ".to_string()
-            } else {
-                let manifest = format!("crates/hulk_{target}/Cargo.toml");
-                let root = if use_docker {
-                    Path::new("/hulk")
-                } else {
-                    &self.root
-                };
-                format!("--manifest-path={} ", root.join(manifest).display())
-            }
-            .as_str()
-            + "-- "
-            + match action {
-                CargoAction::Clippy => "--deny warnings ",
-                _ => "",
-            }
-            + passthrough_arguments.join(" ").as_str();
-
-        println!("Running: {cargo_command}");
-
-        let shell_command = if use_docker {
-            format!(
-                "docker run --volume={}:/hulk --volume={}:/naosdk/sysroots/corei7-64-aldebaran-linux/home/cargo \
-                --rm --interactive --tty ghcr.io/hulks/naosdk:{SDK_VERSION} /bin/bash -c \
-                '. /naosdk/environment-setup-corei7-64-aldebaran-linux && {cargo_command}'",
-                self.root.display(),
-                self.root.join("naosdk/cargo-home").join(SDK_VERSION).display()
-            )
-        } else if target == "nao" {
-            format!(
-                ". {} && {cargo_command}",
-                self.root
-                    .join(format!(
-                        "naosdk/{SDK_VERSION}/environment-setup-corei7-64-aldebaran-linux"
-                    ))
-                    .display()
-            )
-        } else {
-            cargo_command
-        };
-
-        let status = Command::new("sh")
-            .arg("-c")
-            .arg(shell_command)
-            .status()
-            .await
-            .wrap_err("failed to execute cargo command")?;
-
-        if !status.success() {
-            bail!("cargo command exited with {status}");
-        }
-
-        Ok(())
-    }
-
-    pub async fn build(
-        &self,
-        workspace: bool,
-        profile: &str,
-        target: &str,
-        features: Option<Vec<String>>,
-        passthrough_arguments: &[String],
-    ) -> Result<()> {
-        self.cargo(
-            CargoAction::Build,
-            workspace,
-            profile,
-            target,
-            features,
-            passthrough_arguments,
-        )
-        .await
-    }
-
-    pub async fn check(&self, workspace: bool, profile: &str, target: &str) -> Result<()> {
-        self.cargo(CargoAction::Check, workspace, profile, target, None, &[])
-            .await
-    }
-
-    pub async fn clippy(&self, workspace: bool, profile: &str, target: &str) -> Result<()> {
-        self.cargo(CargoAction::Clippy, workspace, profile, target, None, &[])
-            .await
-    }
-
-    pub async fn run(
-        &self,
-        profile: &str,
-        target: &str,
-        features: Option<Vec<String>>,
-        passthrough_arguments: &[String],
-    ) -> Result<()> {
-        self.cargo(
-            CargoAction::Run,
-            false,
-            profile,
-            target,
-            features,
-            passthrough_arguments,
-        )
-        .await
-    }
-
-    pub async fn set_communication(&self, enable: bool) -> Result<()> {
-        let file_contents = read_to_string(self.root.join("etc/parameters/framework.json"))
-            .await
-            .wrap_err("failed to read framework.json")?;
-        let mut hardware_json: Value =
-            from_str(&file_contents).wrap_err("failed to deserialize framework.json")?;
-
-        hardware_json["communication_addresses"] = if enable {
-            Value::String("[::]:1337".to_string())
-        } else {
-            Value::Null
-        };
-        {
-            let file_contents = to_string_pretty(&hardware_json)
-                .wrap_err("failed to serialize framework.json")?
-                + "\n";
-            write(
-                self.root.join("etc/parameters/framework.json"),
-                file_contents.as_bytes(),
-            )
-            .await
-            .wrap_err("failed to write framework.json")?;
-        }
-        Ok(())
-    }
-
-    pub async fn set_player_number(
-        &self,
-        head_id: &str,
-        player_number: PlayerNumber,
-    ) -> Result<()> {
-        let path = "player_number";
-        let parameters = nest_value_at_path(
-            path,
-            to_value(player_number).wrap_err("failed to serialize player number")?,
-        );
-        serialize(
-            &parameters,
-            Scope {
-                location: Location::All,
-                id: Id::Head,
-            },
-            path,
-            self.parameters_root(),
-            &Ids {
-                body_id: "unknown_body_id".to_string(),
-                head_id: head_id.to_string(),
-            },
-        )
-        .wrap_err("failed to serialize parameters directory")
-    }
-
-    pub async fn set_recording_intervals(
-        &self,
-        recording_intervals: HashMap<String, usize>,
-    ) -> Result<()> {
-        let file_contents = read_to_string(self.root.join("etc/parameters/framework.json"))
-            .await
-            .wrap_err("failed to read framework.json")?;
-        let mut hardware_json: Value =
-            from_str(&file_contents).wrap_err("failed to deserialize framework.json")?;
-
-        hardware_json["recording_intervals"] = to_value(recording_intervals)
-            .wrap_err("failed to convert recording intervals to JSON")?;
-        {
-            let file_contents = to_string_pretty(&hardware_json)
-                .wrap_err("failed to serialize framework.json")?
-                + "\n";
-            write(
-                self.root.join("etc/parameters/framework.json"),
-                file_contents.as_bytes(),
-            )
-            .await
-            .wrap_err("failed to write framework.json")?;
-        }
-        Ok(())
-    }
-
-    pub async fn link_sdk_home(&self, installation_directory: Option<&Path>) -> Result<PathBuf> {
-        let symlink = self.root.join("naosdk");
-        let environment_installation_directory = env::var("NAOSDK_HOME").ok().map(PathBuf::from);
-        let installation_directory = if let Some(directory) =
-            installation_directory.or(environment_installation_directory.as_deref())
-        {
-            create_symlink(directory, &symlink).await?;
-            directory.to_path_buf()
-        } else if symlink.exists() {
-            symlink.clone()
-        } else {
-            let directory = home_dir()
-                .ok_or_else(|| eyre!("cannot find HOME directory"))?
-                .join(".naosdk");
-            create_symlink(&directory, &symlink).await?;
-            directory
-        };
-
-        Ok(installation_directory)
-    }
-
-    pub async fn install_sdk(
-        &self,
-        version: Option<&str>,
-        installation_directory: PathBuf,
-    ) -> Result<()> {
-        let version = version.unwrap_or(SDK_VERSION);
-        let sdk = installation_directory.join(version);
-
-        let incomplete_marker = installation_directory.join(format!("{version}.incomplete"));
-        if sdk.exists() && incomplete_marker.exists() {
-            println!("Removing incomplete SDK directory...");
-            remove_dir_all(&sdk)
-                .await
-                .wrap_err("failed to remove old SDK directory")?;
-        }
-
-        if !sdk.exists() {
-            let downloads_directory = installation_directory.join("downloads");
-            let installer_name = format!("HULKs-OS-{ARCH}-toolchain-{version}.sh");
-            let installer_path = downloads_directory.join(&installer_name);
-            if !installer_path.exists() {
-                download_sdk(&downloads_directory, version, &installer_name)
-                    .await
-                    .wrap_err("failed to download SDK")?;
-            }
-
-            File::create(&incomplete_marker)
-                .await
-                .wrap_err("failed to create marker")?;
-            install_sdk(installer_path, &sdk)
-                .await
-                .wrap_err("failed to install SDK")?;
-            remove_file(&incomplete_marker)
-                .await
-                .wrap_err("failed to remove marker")?;
-        }
-        Ok(())
-    }
-
-    pub async fn create_upload_directory(&self, profile: &str) -> Result<(TempDir, PathBuf)> {
-        let upload_directory = tempdir().wrap_err("failed to create temporary directory")?;
-        let hulk_directory = upload_directory.path().join("hulk");
-
-        // the target directory is "debug" with --profile dev...
-        let profile_directory = match profile {
-            "dev" => "debug",
-            other => other,
-        };
-
-        create_dir_all(hulk_directory.join("bin"))
-            .await
-            .wrap_err("failed to create directory")?;
-
-        symlink(self.root.join("etc"), hulk_directory.join("etc"))
-            .await
-            .wrap_err("failed to link etc directory")?;
-
-        symlink(
-            self.root.join(format!(
-                "target/x86_64-aldebaran-linux-gnu/{profile_directory}/hulk_nao"
-            )),
-            hulk_directory.join("bin/hulk"),
-        )
-        .await
-        .wrap_err("failed to link executable")?;
-
-        Ok((upload_directory, hulk_directory))
-    }
-
-    pub async fn get_configured_team(&self) -> Result<Team> {
-        let team_toml = self.root.join("etc/parameters/team.toml");
-        let mut team_file = File::open(&team_toml)
-            .await
-            .wrap_err_with(|| format!("failed to open {}", team_toml.display()))?;
-        let mut contents = String::new();
-        team_file.read_to_string(&mut contents).await?;
-        let team: Team = toml::from_str(&contents).wrap_err("failed to parse team.toml")?;
-        Ok(team)
-    }
-
-    pub async fn get_configured_locations(&self) -> Result<BTreeMap<String, Option<String>>> {
-        let results: Vec<_> = [
-            "nao_location",
-            "webots_location",
-            "behavior_simulator_location",
-        ]
-        .into_iter()
-        .map(|target_name| async move {
-            (
-                target_name,
-                read_link(self.parameters_root().join(target_name))
-                    .await
-                    .wrap_err_with(|| format!("failed reading location symlink for {target_name}")),
-            )
-        })
-        .collect::<FuturesUnordered<_>>()
-        .collect()
-        .await;
-
-        results
-            .into_iter()
-            .map(|(target_name, path)| match path {
-                Ok(path) => Ok((
-                    target_name.to_string(),
-                    Some(
-                        path.file_name()
-                            .ok_or_else(|| eyre!("failed to get file name"))?
-                            .to_str()
-                            .ok_or_else(|| eyre!("failed to convert to UTF-8"))?
-                            .to_string(),
-                    ),
-                )),
-                Err(error)
-                    if error.downcast_ref::<io::Error>().unwrap().kind() == ErrorKind::NotFound =>
-                {
-                    Ok((target_name.to_string(), None))
-                }
-                Err(error) => Err(error),
-            })
-            .collect()
-    }
-
-    pub async fn set_location(&self, target: &str, location: &str) -> Result<()> {
-        let target_location = self.parameters_root().join(format!("{target}_location"));
-        let new_location = Path::new(location);
-        let new_location_path = self.parameters_root().join(location);
-        if !try_exists(new_location_path).await? {
-            let location_set = self.list_available_locations().await?;
-            let available_locations: String = intersperse(
-                location_set
-                    .into_iter()
-                    .map(|location| format!("  - {location}")),
-                "\n".to_string(),
-            )
-            .collect();
-            bail!("location {location} does not exist. \navailable locations are:\n{available_locations}");
-        }
-        let _ = remove_file(&target_location).await;
-        symlink(&new_location, &target_location)
-            .await
-            .wrap_err_with(|| {
-                format!("failed creating symlink from {new_location:?} to {target_location:?}, does the location exist?"
-                )
-            })
-    }
-
-    pub async fn list_available_locations(&self) -> Result<BTreeSet<String>> {
-        let parameters_path = self.root.join("etc/parameters");
-        let mut locations = read_dir(parameters_path)
-            .await
-            .wrap_err("failed parameters root")?;
-        let mut results = BTreeSet::new();
-        while let Ok(Some(entry)) = locations.next_entry().await {
-            if entry.path().is_dir() && !entry.path().is_symlink() {
-                results.insert(
-                    entry
-                        .path()
-                        .file_name()
-                        .ok_or_else(|| eyre!("failed getting file name for location"))?
-                        .to_str()
-                        .ok_or_else(|| eyre!("failed to convert to UTF-8"))?
-                        .to_string(),
-                );
-            }
-        }
-        Ok(results)
-    }
-}
-
-async fn download_with_fallback(
-    output_path: impl AsRef<OsStr>,
-    urls: impl IntoIterator<Item = impl AsRef<OsStr>>,
-    connect_timeout: Duration,
-) -> Result<()> {
-    for (i, url) in urls.into_iter().enumerate() {
-        let url = url.as_ref();
-        if i > 0 {
-            println!("Falling back to downloading from {url:?}");
-        }
-
-        let status = Command::new("curl")
-            .arg("--connect-timeout")
-            .arg(connect_timeout.as_secs_f32().to_string())
-            .arg("--fail")
-            .arg("--location")
-            .arg("--progress-bar")
-            .arg("--output")
-            .arg(&output_path)
-            .arg(url)
-            .status()
-            .await
-            .wrap_err("failed to spawn command")?;
-
-        if status.success() {
-            return Ok(());
-        }
-    }
-
-    bail!("curl exited with error")
-}
-
-async fn download_image(
-    downloads_directory: impl AsRef<Path>,
-    version: &str,
-    image_name: &str,
-) -> Result<()> {
-    if !downloads_directory.as_ref().exists() {
-        create_dir_all(&downloads_directory)
-            .await
-            .wrap_err("failed to create download directory")?;
-    }
-    let image_path = downloads_directory.as_ref().join(image_name);
-    let download_path = image_path.with_extension("tmp");
-    let urls = [
-        format!("http://bighulk.hulks.dev/image/{image_name}"),
-        format!("https://github.com/HULKs/meta-nao/releases/download/{version}/{image_name}"),
-    ];
-
-    println!("Downloading image from {}", urls[0]);
-    download_with_fallback(&download_path, urls, CONNECT_TIMEOUT)
-        .await
-        .wrap_err("failed to download image")?;
-
-    rename(download_path, image_path)
-        .await
-        .wrap_err("failed to rename image")
-}
-
-pub async fn get_image_path(version: &str) -> Result<PathBuf> {
-    let downloads_directory = home_dir()
-        .ok_or_else(|| eyre!("cannot find HOME directory"))?
-        .join(".naosdk/images");
-    let image_name = format!("nao-image-HULKs-OS-{version}.ext3.gz.opn");
-    let image_path = downloads_directory.join(&image_name);
-
-    if !image_path.exists() {
-        download_image(downloads_directory, version, &image_name).await?;
-    }
-    Ok(image_path)
-}
-
-async fn download_sdk(
-    downloads_directory: impl AsRef<Path>,
-    version: &str,
-    installer_name: &str,
-) -> Result<()> {
-    if !downloads_directory.as_ref().exists() {
-        create_dir_all(&downloads_directory)
-            .await
-            .wrap_err("failed to create download directory")?;
-    }
-    let installer_path = downloads_directory.as_ref().join(installer_name);
-    let download_path = installer_path.with_extension("tmp");
-    let urls = [
-        format!("http://bighulk.hulks.dev/sdk/{installer_name}"),
-        format!("https://github.com/HULKs/meta-nao/releases/download/{version}/{installer_name}"),
-    ];
-
-    println!("Downloading SDK from {}", urls[0]);
-    download_with_fallback(&download_path, urls, CONNECT_TIMEOUT).await?;
-
-    set_permissions(&download_path, Permissions::from_mode(0o755))
-        .await
-        .wrap_err("failed to make installer executable")?;
-
-    rename(download_path, installer_path)
-        .await
-        .wrap_err("failed to rename sdk installer")
-}
-
-async fn install_sdk(
-    installer_path: impl AsRef<Path>,
-    installation_directory: impl AsRef<Path>,
-) -> Result<()> {
-    let mut command = Command::new(installer_path.as_ref().as_os_str());
-    command.arg("-d");
-    command.arg(installation_directory.as_ref().as_os_str());
-    if env::var("NAOSDK_AUTOMATIC_YES")
-        .map(|value| value == "1")
-        .unwrap_or(false)
-    {
-        command.arg("-y");
-    }
-    let status = command.status().await.wrap_err("failed to spawn command")?;
-
-    if !status.success() {
-        bail!("SDK installer exited with {status}");
-    }
-    Ok(())
-}
-
-async fn create_symlink(source: &Path, destination: &Path) -> Result<()> {
-    if destination.read_link().is_ok() {
-        remove_file(&destination)
-            .await
-            .wrap_err("failed to remove current symlink")?;
-    }
-    symlink(&source, &destination)
-        .await
-        .wrap_err("failed to create symlink")?;
-    Ok(())
-}
-
-pub async fn get_repository_root() -> Result<PathBuf> {
-    let path = current_dir().wrap_err("failed to get current directory")?;
-    let ancestors = path.as_path().ancestors();
-    for ancestor in ancestors {
-        let mut directory = read_dir(ancestor)
-            .await
-            .wrap_err_with(|| format!("failed to read directory {}", ancestor.display()))?;
-        while let Some(child) = directory.next_entry().await.wrap_err_with(|| {
-            format!(
-                "failed to get next directory entry while iterating {}",
-                ancestor.display()
-            )
-        })? {
-            if child.file_name() == ".git" {
-                return Ok(child
-                    .path()
-                    .parent()
-                    .ok_or_else(|| eyre!("failed to get parent of {}", child.path().display()))?
-                    .to_path_buf());
-            }
-        }
-    }
-
-    bail!("failed to find .git directory")
-}
-
-#[derive(Debug, Clone, Copy)]
-enum CargoAction {
-    Build,
-    Check,
-    Clippy,
-    Run,
-}
-
-impl Display for CargoAction {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(
-            f,
-            "{}",
-            match self {
-                CargoAction::Build => "build",
-                CargoAction::Check => "check",
-                CargoAction::Clippy => "clippy",
-                CargoAction::Run => "run",
-            }
-        )
-    }
-}
+//! Tools and utilities for managing development workflows in the repository.
+//!
+//! This crate simplifies tasks like building for specific targets, handling SDKs, and setting up
+//! configurations, making it easier to develop, configure, and deploy for NAO robots.
+
+pub mod cargo;
+pub mod communication;
+pub mod configuration;
+pub mod data_home;
+pub mod download;
+pub mod find_root;
+pub mod image;
+pub mod inspect_version;
+pub mod location;
+pub mod modify_json;
+pub mod player_number;
+pub mod recording;
+pub mod sdk;
+pub mod symlink;
+pub mod team;
+pub mod upload;
diff --git a/crates/repository/src/location.rs b/crates/repository/src/location.rs
new file mode 100644
index 0000000000..4dec1c306a
--- /dev/null
+++ b/crates/repository/src/location.rs
@@ -0,0 +1,113 @@
+use std::{io::ErrorKind, path::Path};
+
+use color_eyre::{
+    eyre::{bail, eyre, Context},
+    Result,
+};
+use futures_util::{stream::FuturesUnordered, StreamExt};
+use itertools::intersperse;
+use tokio::{
+    fs::{read_dir, read_link, remove_file, symlink, try_exists},
+    io,
+};
+
+pub async fn list_configured_locations(
+    repository_root: impl AsRef<Path>,
+) -> Result<Vec<(String, Option<String>)>> {
+    let parameters_root = &repository_root.as_ref().join("etc/parameters");
+    let results: Vec<_> = [
+        "nao_location",
+        "webots_location",
+        "behavior_simulator_location",
+    ]
+    .into_iter()
+    .map(|target_name| async move {
+        (
+            target_name,
+            read_link(parameters_root.join(target_name))
+                .await
+                .wrap_err_with(|| format!("failed reading location symlink for {target_name}")),
+        )
+    })
+    .collect::<FuturesUnordered<_>>()
+    .collect()
+    .await;
+
+    results
+        .into_iter()
+        .map(|(target_name, path)| match path {
+            Ok(path) => Ok((
+                target_name.to_string(),
+                Some(
+                    path.file_name()
+                        .ok_or_else(|| eyre!("failed to get file name"))?
+                        .to_str()
+                        .ok_or_else(|| eyre!("failed to convert to UTF-8"))?
+                        .to_string(),
+                ),
+            )),
+            Err(error)
+                if error.downcast_ref::<io::Error>().unwrap().kind() == ErrorKind::NotFound =>
+            {
+                Ok((target_name.to_string(), None))
+            }
+            Err(error) => Err(error),
+        })
+        .collect()
+}
+
+pub async fn set_location(
+    target: &str,
+    location: &str,
+    repository_root: impl AsRef<Path>,
+) -> Result<()> {
+    let parameters_root = repository_root.as_ref().join("etc/parameters");
+    if !try_exists(parameters_root.join(location))
+        .await
+        .wrap_err_with(|| format!("failed checking if location '{location}' exists"))?
+    {
+        let location_set = list_available_locations(&repository_root)
+            .await
+            .unwrap_or_default();
+        let available_locations: String = intersperse(
+            location_set
+                .into_iter()
+                .map(|location| format!("  - {location}")),
+            "\n".to_string(),
+        )
+        .collect();
+        bail!(
+            "location {location} does not exist.\navailable locations are:\n{available_locations}"
+        );
+    }
+    let target_location = parameters_root.join(format!("{target}_location"));
+    let _ = remove_file(&target_location).await;
+    symlink(location, &target_location).await.wrap_err_with(|| {
+        format!(
+            "failed creating symlink named {target_location} pointing to {location}",
+            target_location = target_location.display()
+        )
+    })
+}
+
+pub async fn list_available_locations(repository_root: impl AsRef<Path>) -> Result<Vec<String>> {
+    let parameters_root = repository_root.as_ref().join("etc/parameters");
+    let mut locations = read_dir(parameters_root)
+        .await
+        .wrap_err("failed to read parameters directory")?;
+    let mut results = Vec::new();
+    while let Ok(Some(entry)) = locations.next_entry().await {
+        if entry.path().is_dir() && !entry.path().is_symlink() {
+            results.push(
+                entry
+                    .path()
+                    .file_name()
+                    .ok_or_else(|| eyre!("failed getting file name for location"))?
+                    .to_str()
+                    .ok_or_else(|| eyre!("failed to convert to UTF-8"))?
+                    .to_string(),
+            );
+        }
+    }
+    Ok(results)
+}
diff --git a/crates/repository/src/modify_json.rs b/crates/repository/src/modify_json.rs
new file mode 100644
index 0000000000..51a7a08918
--- /dev/null
+++ b/crates/repository/src/modify_json.rs
@@ -0,0 +1,36 @@
+use std::path::Path;
+
+use color_eyre::{eyre::Context, Result};
+use serde::{Deserialize, Serialize};
+use serde_json::to_string_pretty;
+use tokio::fs::{read_to_string, write};
+
+/// Modifies a JSON file in place.
+///
+/// This function reads the contents of a JSON file, deserializes it into a value, applies a
+/// modification to the value, serializes the modified value back into JSON, and writes the JSON
+/// back to the file.
+pub async fn modify_json_inplace<I, O>(
+    path: impl AsRef<Path>,
+    modification: impl FnOnce(I) -> O,
+) -> Result<()>
+where
+    for<'de> I: Deserialize<'de>,
+    O: Serialize,
+{
+    let file_contents = read_to_string(&path)
+        .await
+        .wrap_err("failed to read contents")?;
+
+    let value = serde_json::from_str(&file_contents).wrap_err("failed to deserialize value")?;
+
+    let out = modification(value);
+
+    let json = to_string_pretty(&out).wrap_err("failed to serialize value")?;
+    let file_contents = json + "\n";
+    write(&path, file_contents.as_bytes())
+        .await
+        .wrap_err("failed to write file contents back")?;
+
+    Ok(())
+}
diff --git a/crates/repository/src/player_number.rs b/crates/repository/src/player_number.rs
new file mode 100644
index 0000000000..805550fcc2
--- /dev/null
+++ b/crates/repository/src/player_number.rs
@@ -0,0 +1,37 @@
+use std::path::Path;
+
+use color_eyre::{eyre::Context, Result};
+use parameters::{
+    directory::{serialize, Id, Location, Scope},
+    json::nest_value_at_path,
+};
+use spl_network_messages::PlayerNumber;
+use types::hardware::Ids;
+
+pub async fn configure_player_number(
+    head_id: &str,
+    player_number: PlayerNumber,
+    repository_root: impl AsRef<Path>,
+) -> Result<()> {
+    let parameters_root = repository_root.as_ref().join("etc/parameters/");
+    let path = "player_number";
+    let parameters = nest_value_at_path(
+        path,
+        serde_json::to_value(player_number).wrap_err("failed to serialize player number")?,
+    );
+    serialize(
+        &parameters,
+        Scope {
+            location: Location::All,
+            id: Id::Head,
+        },
+        path,
+        parameters_root,
+        &Ids {
+            body_id: "unknown_body_id".to_string(),
+            head_id: head_id.to_string(),
+        },
+    )
+    .wrap_err("failed to serialize parameters directory")?;
+    Ok(())
+}
diff --git a/crates/repository/src/recording.rs b/crates/repository/src/recording.rs
new file mode 100644
index 0000000000..29fbcaecd9
--- /dev/null
+++ b/crates/repository/src/recording.rs
@@ -0,0 +1,31 @@
+use std::{collections::HashMap, path::Path};
+
+use color_eyre::{eyre::Context, Result};
+use serde_json::{to_value, Value};
+
+use crate::modify_json::modify_json_inplace;
+
+pub async fn configure_recording_intervals(
+    recording_intervals: HashMap<String, usize>,
+    repository_root: impl AsRef<Path>,
+) -> Result<()> {
+    let framework_json = repository_root
+        .as_ref()
+        .join("etc/parameters/framework.json");
+    let serialized_intervals =
+        to_value(recording_intervals).wrap_err("failed to convert recording intervals to JSON")?;
+
+    modify_json_inplace(&framework_json, |mut hardware_json: Value| {
+        hardware_json["recording_intervals"] = serialized_intervals;
+        hardware_json
+    })
+    .await
+    .wrap_err_with(|| {
+        format!(
+            "failed to configure recording intervals in {}",
+            framework_json.display()
+        )
+    })?;
+
+    Ok(())
+}
diff --git a/crates/repository/src/sdk.rs b/crates/repository/src/sdk.rs
new file mode 100644
index 0000000000..c6df339f17
--- /dev/null
+++ b/crates/repository/src/sdk.rs
@@ -0,0 +1,105 @@
+use std::{
+    env::{self, consts::ARCH},
+    fs::Permissions,
+    os::unix::fs::PermissionsExt,
+    path::{Path, PathBuf},
+};
+
+use color_eyre::{
+    eyre::{bail, Context},
+    Result,
+};
+use log::info;
+use tokio::{
+    fs::{create_dir_all, remove_dir_all, remove_file, rename, set_permissions, File},
+    process::Command,
+};
+
+use crate::download::{download_with_fallback, CONNECT_TIMEOUT};
+
+/// Downloads and installs a specified SDK version.
+///
+/// This function ensures an installed SDK version. If it is not installed, it will download the
+/// SDK installer and run it to install the SDK. If the SDK installation is incomplete, it will
+/// remove the incomplete installation and try again.
+pub async fn download_and_install(version: &str, data_home: impl AsRef<Path>) -> Result<()> {
+    let data_home = data_home.as_ref();
+    let sdk_home = data_home.join("sdk/");
+    let installation_directory = sdk_home.join(version);
+
+    let incomplete_marker = sdk_home.join(format!("{version}.incomplete"));
+    if installation_directory.exists() && incomplete_marker.exists() {
+        info!("Removing incomplete SDK ({version}) of previous installation attempt...");
+        remove_dir_all(&installation_directory)
+            .await
+            .wrap_err("failed to remove incomplete SDK directory")?;
+    }
+
+    if !installation_directory.exists() {
+        let installer_path = download(version, &sdk_home)
+            .await
+            .wrap_err("failed to download SDK")?;
+
+        File::create(&incomplete_marker)
+            .await
+            .wrap_err("failed to create marker")?;
+        run_installer(installer_path, &installation_directory)
+            .await
+            .wrap_err("failed to install SDK")?;
+        remove_file(&incomplete_marker)
+            .await
+            .wrap_err("failed to remove marker")?;
+    }
+    Ok(())
+}
+
+async fn download(version: &str, sdk_home: impl AsRef<Path>) -> Result<PathBuf> {
+    let downloads_directory = sdk_home.as_ref().join("downloads");
+    let installer_name = format!("HULKs-OS-{ARCH}-toolchain-{version}.sh");
+    let installer_path = downloads_directory.join(&installer_name);
+    let download_path = installer_path.with_extension("tmp");
+
+    create_dir_all(&downloads_directory)
+        .await
+        .wrap_err("failed to create download directory")?;
+
+    let urls = [
+        format!("http://bighulk.hulks.dev/sdk/{installer_name}"),
+        format!("https://github.com/HULKs/meta-nao/releases/download/{version}/{installer_name}"),
+    ];
+    download_with_fallback(urls, &download_path, CONNECT_TIMEOUT)
+        .await
+        .wrap_err("failed to download SDK")?;
+
+    set_permissions(&download_path, Permissions::from_mode(0o755))
+        .await
+        .wrap_err("failed to mark installer executable")?;
+
+    rename(download_path, &installer_path)
+        .await
+        .wrap_err("failed to rename sdk installer")?;
+
+    Ok(installer_path)
+}
+
+async fn run_installer(
+    installer: impl AsRef<Path>,
+    target_directory: impl AsRef<Path>,
+) -> Result<()> {
+    let var_name = Command::new(installer.as_ref().as_os_str());
+    let mut command = var_name;
+    command.arg("-d");
+    command.arg(target_directory.as_ref().as_os_str());
+    if env::var("NAOSDK_AUTOMATIC_YES")
+        .map(|value| value == "1")
+        .unwrap_or(false)
+    {
+        command.arg("-y");
+    }
+    let status = command.status().await.wrap_err("failed to spawn command")?;
+
+    if !status.success() {
+        bail!("SDK installer exited with {status}");
+    }
+    Ok(())
+}
diff --git a/crates/repository/src/symlink.rs b/crates/repository/src/symlink.rs
new file mode 100644
index 0000000000..e515e03b07
--- /dev/null
+++ b/crates/repository/src/symlink.rs
@@ -0,0 +1,20 @@
+use std::path::Path;
+
+use color_eyre::{eyre::Context, Result};
+use tokio::fs::{remove_file, symlink};
+
+/// Create or replace a symlink from the source path to the destination path.
+///
+/// If a symlink already exists at the destination path, it is removed before creating the new symlink.
+/// If the symlink cannot be created, an error is returned.
+pub async fn create_symlink(source: &Path, destination: &Path) -> Result<()> {
+    if destination.read_link().is_ok() {
+        remove_file(&destination)
+            .await
+            .wrap_err("failed to remove current symlink")?;
+    }
+    symlink(&source, &destination)
+        .await
+        .wrap_err("failed to create symlink")?;
+    Ok(())
+}
diff --git a/crates/repository/src/team.rs b/crates/repository/src/team.rs
new file mode 100644
index 0000000000..b0972b5703
--- /dev/null
+++ b/crates/repository/src/team.rs
@@ -0,0 +1,30 @@
+use std::path::Path;
+
+use color_eyre::{eyre::Context, Result};
+use serde::{Deserialize, Serialize};
+use tokio::fs::read_to_string;
+
+#[derive(Serialize, Deserialize)]
+pub struct Team {
+    pub team_number: u8,
+    pub naos: Vec<Nao>,
+}
+
+#[derive(Serialize, Deserialize)]
+pub struct Nao {
+    pub number: u8,
+    pub hostname: String,
+    pub body_id: String,
+    pub head_id: String,
+}
+
+pub async fn read_team_configuration(repository_root: impl AsRef<Path>) -> Result<Team> {
+    let team_toml = repository_root.as_ref().join("etc/parameters/team.toml");
+
+    let content = read_to_string(&team_toml)
+        .await
+        .wrap_err_with(|| format!("failed to read {}", team_toml.display()))?;
+
+    let team = toml::from_str(&content).wrap_err("failed to parse team.toml")?;
+    Ok(team)
+}
diff --git a/crates/repository/src/upload.rs b/crates/repository/src/upload.rs
new file mode 100644
index 0000000000..518216b77a
--- /dev/null
+++ b/crates/repository/src/upload.rs
@@ -0,0 +1,37 @@
+use std::path::Path;
+
+use color_eyre::{eyre::Context, Result};
+use tokio::fs::{create_dir_all, symlink};
+
+pub async fn populate_upload_directory(
+    upload_directory: impl AsRef<Path>,
+    profile: &str,
+    repository_root: impl AsRef<Path>,
+) -> Result<()> {
+    let upload_directory = upload_directory.as_ref();
+    let repository_root = repository_root.as_ref();
+
+    // the target directory is "debug" with --profile dev...
+    let profile_directory = match profile {
+        "dev" => "debug",
+        other => other,
+    };
+
+    symlink(repository_root.join("etc"), upload_directory.join("etc"))
+        .await
+        .wrap_err("failed to link etc directory")?;
+
+    create_dir_all(upload_directory.join("bin"))
+        .await
+        .wrap_err("failed to create directory for binaries")?;
+
+    let hulk_binary = format!("target/x86_64-aldebaran-linux-gnu/{profile_directory}/hulk_nao");
+    symlink(
+        repository_root.join(hulk_binary),
+        upload_directory.join("bin/hulk"),
+    )
+    .await
+    .wrap_err("failed to link executable")?;
+
+    Ok(())
+}
diff --git a/crates/source_analyzer/src/pretty.rs b/crates/source_analyzer/src/pretty.rs
index 2028e70aaf..3617982cb6 100644
--- a/crates/source_analyzer/src/pretty.rs
+++ b/crates/source_analyzer/src/pretty.rs
@@ -90,7 +90,7 @@ impl ToWriterPretty for Contexts {
 impl ToWriterPretty for Field {
     fn to_writer_pretty(&self, writer: &mut impl Write) -> fmt::Result {
         match self {
-            Field::AdditionalOutput { name, .. } => write!(writer, "{name}: AdditfmtnalOutput"),
+            Field::AdditionalOutput { name, .. } => write!(writer, "{name}: AdditionalOutput"),
             Field::CyclerState { name, .. } => write!(writer, "{name}: CyclerState"),
             Field::HardwareInterface { name, .. } => write!(writer, "{name}: HardwareInterface"),
             Field::HistoricInput { name, .. } => write!(writer, "{name}: HistoricInput"),
diff --git a/docs/tooling/pepsi.md b/docs/tooling/pepsi.md
index 968ff2370e..f5cd96d134 100644
--- a/docs/tooling/pepsi.md
+++ b/docs/tooling/pepsi.md
@@ -42,7 +42,7 @@ Many subcommands can act on multiple robots concurrently.
 
 `upload` builds a binary for the NAO target, and then uploads it and parameter files to one or more robot.
 
-`wireless`, `reboot`, `poweroff`, and `hulk` directly interact with the robot(s), whereas `communication`, and `playernumber` only change the local configuration parameters.
+`wifi`, `reboot`, `poweroff`, and `hulk` directly interact with the robot(s), whereas `communication`, and `playernumber` only change the local configuration parameters.
 
 `pregame` combines deactivating communication (to avoid sending illegal messages), assigning playernumbers, setting a wifi network, uploading, and restarting the HULK service.
 
diff --git a/hulk.toml b/hulk.toml
new file mode 100644
index 0000000000..1bf7376892
--- /dev/null
+++ b/hulk.toml
@@ -0,0 +1,2 @@
+os_version = "7.5.7"
+sdk_version = "7.5.0"
diff --git a/tools/aliveness/Cargo.lock b/services/aliveness/Cargo.lock
similarity index 97%
rename from tools/aliveness/Cargo.lock
rename to services/aliveness/Cargo.lock
index 58520e8560..d76803eed6 100644
--- a/tools/aliveness/Cargo.lock
+++ b/services/aliveness/Cargo.lock
@@ -31,7 +31,7 @@ name = "aliveness"
 version = "0.1.0"
 dependencies = [
  "futures-util",
- "hula-types",
+ "hula_types",
  "regex",
  "serde",
  "serde_json",
@@ -47,11 +47,10 @@ dependencies = [
  "aliveness",
  "color-eyre",
  "configparser",
- "constants",
  "env_logger",
  "futures-util",
  "hostname",
- "hula-types",
+ "hula_types",
  "log",
  "serde_json",
  "tokio",
@@ -361,15 +360,6 @@ dependencies = [
  "tokio",
 ]
 
-[[package]]
-name = "constants"
-version = "0.1.0"
-dependencies = [
- "lazy_static",
- "serde",
- "toml",
-]
-
 [[package]]
 name = "cpufeatures"
 version = "0.2.14"
@@ -672,7 +662,7 @@ dependencies = [
 ]
 
 [[package]]
-name = "hula-types"
+name = "hula_types"
 version = "0.1.0"
 dependencies = [
  "serde",
@@ -971,7 +961,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f4c021e1093a56626774e81216a4ce732a735e5bad4868a03f3ed65ca0c3919"
 dependencies = [
  "once_cell",
- "toml_edit 0.19.15",
+ "toml_edit",
 ]
 
 [[package]]
@@ -1148,15 +1138,6 @@ dependencies = [
  "syn 2.0.86",
 ]
 
-[[package]]
-name = "serde_spanned"
-version = "0.6.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87607cb1398ed59d48732e575a4c28a7a8ebf2454b964fe3f224f2afc07909e1"
-dependencies = [
- "serde",
-]
-
 [[package]]
 name = "sha1"
 version = "0.10.6"
@@ -1350,26 +1331,11 @@ dependencies = [
  "tokio",
 ]
 
-[[package]]
-name = "toml"
-version = "0.8.19"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1ed1f98e3fdc28d6d910e6737ae6ab1a93bf1985935a1193e68f93eeb68d24e"
-dependencies = [
- "serde",
- "serde_spanned",
- "toml_datetime",
- "toml_edit 0.22.22",
-]
-
 [[package]]
 name = "toml_datetime"
 version = "0.6.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0dd7358ecb8fc2f8d014bf86f6f638ce72ba252a2c3a2572f2a795f1d23efb41"
-dependencies = [
- "serde",
-]
 
 [[package]]
 name = "toml_edit"
@@ -1379,20 +1345,7 @@ checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
 dependencies = [
  "indexmap",
  "toml_datetime",
- "winnow 0.5.40",
-]
-
-[[package]]
-name = "toml_edit"
-version = "0.22.22"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ae48d6208a266e853d946088ed816055e556cc6028c5e8e2b84d9fa5dd7c7f5"
-dependencies = [
- "indexmap",
- "serde",
- "serde_spanned",
- "toml_datetime",
- "winnow 0.6.20",
+ "winnow",
 ]
 
 [[package]]
@@ -1683,15 +1636,6 @@ dependencies = [
  "memchr",
 ]
 
-[[package]]
-name = "winnow"
-version = "0.6.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36c1fec1a2bb5866f07c25f68c26e565c4c200aebb96d7e55710c19d3e8ac49b"
-dependencies = [
- "memchr",
-]
-
 [[package]]
 name = "xdg-home"
 version = "1.3.0"
diff --git a/tools/aliveness/Cargo.toml b/services/aliveness/Cargo.toml
similarity index 85%
rename from tools/aliveness/Cargo.toml
rename to services/aliveness/Cargo.toml
index 700c019ad2..f10b161396 100644
--- a/tools/aliveness/Cargo.toml
+++ b/services/aliveness/Cargo.toml
@@ -9,11 +9,10 @@ homepage = "https://github.com/hulks/hulk"
 aliveness = { path = "../../crates/aliveness" }
 color-eyre = "0.6.2"
 configparser = { version = "3.0.2", features = ["async-std"] }
-constants = { path = "../../crates/constants" }
 env_logger = "0.10.0"
 futures-util = "0.3.25"
 hostname = "0.3.1"
-hula-types = { path = "../hula/types/" }
+hula_types = { path = "../../crates/hula_types/" }
 log = "0.4.17"
 serde_json = "1.0.89"
 tokio = { version = "1.22.0", features = ["full"] }
diff --git a/tools/aliveness/src/main.rs b/services/aliveness/src/main.rs
similarity index 100%
rename from tools/aliveness/src/main.rs
rename to services/aliveness/src/main.rs
diff --git a/tools/aliveness/src/robot_info.rs b/services/aliveness/src/robot_info.rs
similarity index 98%
rename from tools/aliveness/src/robot_info.rs
rename to services/aliveness/src/robot_info.rs
index 3636910e8e..a8652cab5a 100644
--- a/tools/aliveness/src/robot_info.rs
+++ b/services/aliveness/src/robot_info.rs
@@ -1,11 +1,12 @@
 use color_eyre::eyre::{eyre, Context, Result};
 use configparser::ini::Ini;
-use constants::OS_RELEASE_PATH;
 use hula_types::{Battery, JointsArray};
 
 use tokio::process::Command;
 use zbus::{dbus_proxy, zvariant::Optional, Connection};
 
+const OS_RELEASE_PATH: &str = "/etc/os-release";
+
 #[dbus_proxy(
     default_service = "org.hulks.hula",
     interface = "org.hulks.hula",
diff --git a/tools/breeze/Cargo.lock b/services/breeze/Cargo.lock
similarity index 100%
rename from tools/breeze/Cargo.lock
rename to services/breeze/Cargo.lock
diff --git a/tools/breeze/Cargo.toml b/services/breeze/Cargo.toml
similarity index 100%
rename from tools/breeze/Cargo.toml
rename to services/breeze/Cargo.toml
diff --git a/tools/breeze/src/main.rs b/services/breeze/src/main.rs
similarity index 100%
rename from tools/breeze/src/main.rs
rename to services/breeze/src/main.rs
diff --git a/tools/hula/Cargo.lock b/services/hula/Cargo.lock
similarity index 92%
rename from tools/hula/Cargo.lock
rename to services/hula/Cargo.lock
index b6ff82e6a4..515ea03461 100644
--- a/tools/hula/Cargo.lock
+++ b/services/hula/Cargo.lock
@@ -26,6 +26,21 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "android-tzdata"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0"
+
+[[package]]
+name = "android_system_properties"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "anstream"
 version = "0.6.17"
@@ -206,7 +221,7 @@ checksum = "3b43422f69d8ff38f95f1b2bb76517c91589a924d1559a0e935d7c8ce0274c11"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -241,7 +256,7 @@ checksum = "721cae7de5c34fbb2acd27e21e6d2cf7b886dce0c27388d46c4e6c47ea4318dd"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -311,6 +326,12 @@ version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1522ac6ee801a11bf9ef3f80403f4ede6eb41291fac3dde3de09989679305f25"
 
+[[package]]
+name = "bumpalo"
+version = "3.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
+
 [[package]]
 name = "byteorder"
 version = "1.5.0"
@@ -319,9 +340,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cc"
-version = "1.1.33"
+version = "1.1.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3788d6ac30243803df38a3e9991cf37e41210232916d41a8222ae378f912624"
+checksum = "67b9470d453346108f93a59222a9a1a5724db32d0a4727b7ab7ace4b4d822dc9"
 dependencies = [
  "shlex",
 ]
@@ -332,6 +353,20 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "chrono"
+version = "0.4.38"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
+dependencies = [
+ "android-tzdata",
+ "iana-time-zone",
+ "js-sys",
+ "num-traits",
+ "wasm-bindgen",
+ "windows-targets 0.52.6",
+]
+
 [[package]]
 name = "clap"
 version = "4.5.20"
@@ -363,7 +398,7 @@ dependencies = [
  "heck",
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -415,13 +450,10 @@ dependencies = [
 ]
 
 [[package]]
-name = "constants"
-version = "0.1.0"
-dependencies = [
- "lazy_static",
- "serde",
- "toml",
-]
+name = "core-foundation-sys"
+version = "0.8.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
 
 [[package]]
 name = "cpufeatures"
@@ -497,7 +529,7 @@ checksum = "de0d48a183585823424a4ce1aa132d174a6a81bd540895822eb4c8373a8e49e8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -620,7 +652,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -758,20 +790,21 @@ checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
 name = "hula"
 version = "0.5.0"
 dependencies = [
+ "chrono",
  "clap",
  "color-eyre",
- "constants",
  "env_logger",
  "epoll",
- "hula-types",
+ "hula_types",
  "log",
  "rmp-serde",
+ "serde",
  "systemd",
  "zbus",
 ]
 
 [[package]]
-name = "hula-types"
+name = "hula_types"
 version = "0.1.0"
 dependencies = [
  "serde",
@@ -784,6 +817,29 @@ version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
+[[package]]
+name = "iana-time-zone"
+version = "0.1.61"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "235e081f3925a06703c2d0117ea8b91f042756fd6e7a6e5d901e8ca1a996b220"
+dependencies = [
+ "android_system_properties",
+ "core-foundation-sys",
+ "iana-time-zone-haiku",
+ "js-sys",
+ "wasm-bindgen",
+ "windows-core",
+]
+
+[[package]]
+name = "iana-time-zone-haiku"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f31827a206f56af32e590ba56d5d2d085f558508192593743f16b2306495269f"
+dependencies = [
+ "cc",
+]
+
 [[package]]
 name = "indenter"
 version = "0.3.3"
@@ -837,6 +893,15 @@ version = "1.70.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7943c866cc5cd64cbc25b2e01621d07fa8eb2a1a23160ee81ce38704e97b8ecf"
 
+[[package]]
+name = "js-sys"
+version = "0.3.72"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a88f1bda2bd75b0452a14784937d796722fdebfe50df998aeb3f0b7603019a9"
+dependencies = [
+ "wasm-bindgen",
+]
+
 [[package]]
 name = "lazy_static"
 version = "1.5.0"
@@ -1051,7 +1116,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f4c021e1093a56626774e81216a4ce732a735e5bad4868a03f3ed65ca0c3919"
 dependencies = [
  "once_cell",
- "toml_edit 0.19.15",
+ "toml_edit",
 ]
 
 [[package]]
@@ -1203,7 +1268,7 @@ checksum = "de523f781f095e28fa605cdce0f8307e451cc0fd14e2eb4cd2e98a355b147766"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -1214,16 +1279,7 @@ checksum = "6c64451ba24fc7a6a2d60fc75dd9c83c90903b19028d4eff35e88fc1e86564e9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
-]
-
-[[package]]
-name = "serde_spanned"
-version = "0.6.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87607cb1398ed59d48732e575a4c28a7a8ebf2454b964fe3f224f2afc07909e1"
-dependencies = [
- "serde",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -1305,9 +1361,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.86"
+version = "2.0.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e89275301d38033efb81a6e60e3497e734dfcc62571f2854bf4b16690398824c"
+checksum = "25aa4ce346d03a6dcd68dd8b4010bcb74e54e62c90c573f394c46eae99aba32d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1361,26 +1417,11 @@ dependencies = [
  "once_cell",
 ]
 
-[[package]]
-name = "toml"
-version = "0.8.19"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1ed1f98e3fdc28d6d910e6737ae6ab1a93bf1985935a1193e68f93eeb68d24e"
-dependencies = [
- "serde",
- "serde_spanned",
- "toml_datetime",
- "toml_edit 0.22.22",
-]
-
 [[package]]
 name = "toml_datetime"
 version = "0.6.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0dd7358ecb8fc2f8d014bf86f6f638ce72ba252a2c3a2572f2a795f1d23efb41"
-dependencies = [
- "serde",
-]
 
 [[package]]
 name = "toml_edit"
@@ -1390,20 +1431,7 @@ checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
 dependencies = [
  "indexmap",
  "toml_datetime",
- "winnow 0.5.40",
-]
-
-[[package]]
-name = "toml_edit"
-version = "0.22.22"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ae48d6208a266e853d946088ed816055e556cc6028c5e8e2b84d9fa5dd7c7f5"
-dependencies = [
- "indexmap",
- "serde",
- "serde_spanned",
- "toml_datetime",
- "winnow 0.6.20",
+ "winnow",
 ]
 
 [[package]]
@@ -1425,7 +1453,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
@@ -1518,6 +1546,61 @@ version = "0.11.0+wasi-snapshot-preview1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
+[[package]]
+name = "wasm-bindgen"
+version = "0.2.95"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "128d1e363af62632b8eb57219c8fd7877144af57558fb2ef0368d0087bddeb2e"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+ "wasm-bindgen-macro",
+]
+
+[[package]]
+name = "wasm-bindgen-backend"
+version = "0.2.95"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb6dd4d3ca0ddffd1dd1c9c04f94b868c37ff5fac97c30b97cff2d74fce3a358"
+dependencies = [
+ "bumpalo",
+ "log",
+ "once_cell",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.87",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-macro"
+version = "0.2.95"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e79384be7f8f5a9dd5d7167216f022090cf1f9ec128e6e6a482a2cb5c5422c56"
+dependencies = [
+ "quote",
+ "wasm-bindgen-macro-support",
+]
+
+[[package]]
+name = "wasm-bindgen-macro-support"
+version = "0.2.95"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26c6ab57572f7a24a4985830b120de1594465e5d500f24afe89e16b4e833ef68"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.87",
+ "wasm-bindgen-backend",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-shared"
+version = "0.2.95"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "65fc09f10666a9f147042251e0dda9c18f166ff7de300607007e96bdebc1068d"
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -1549,6 +1632,15 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
+[[package]]
+name = "windows-core"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "33ab640c8d7e35bf8ba19b884ba838ceb4fba93a4e8c65a9059d08afcfc683d9"
+dependencies = [
+ "windows-targets 0.52.6",
+]
+
 [[package]]
 name = "windows-sys"
 version = "0.48.0"
@@ -1706,15 +1798,6 @@ dependencies = [
  "memchr",
 ]
 
-[[package]]
-name = "winnow"
-version = "0.6.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36c1fec1a2bb5866f07c25f68c26e565c4c200aebb96d7e55710c19d3e8ac49b"
-dependencies = [
- "memchr",
-]
-
 [[package]]
 name = "xdg-home"
 version = "1.3.0"
@@ -1809,7 +1892,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.86",
+ "syn 2.0.87",
 ]
 
 [[package]]
diff --git a/tools/hula/Cargo.toml b/services/hula/Cargo.toml
similarity index 64%
rename from tools/hula/Cargo.toml
rename to services/hula/Cargo.toml
index 9e55548879..dce66a0654 100644
--- a/tools/hula/Cargo.toml
+++ b/services/hula/Cargo.toml
@@ -1,23 +1,17 @@
-[workspace]
-resolver = "2"
-members = [
-  "types",
-  "proxy",
-]
-
-[workspace.package]
+[package]
+name = "hula"
+version = "0.5.0"
 edition = "2021"
 license = "GPL-3.0-only"
 homepage = "https://github.com/hulks/hulk"
 
-[workspace.dependencies]
+[dependencies]
 chrono = "0.4.23"
 clap = { version = "4.0.29", features = ["derive"] }
 color-eyre = "0.6.2"
-constants = { path = "../../crates/constants" }
 env_logger = "0.10.0"
 epoll = "4.3.1"
-hula-types = { path = "./types" }
+hula_types = { path = "../../crates/hula_types/" }
 log = "0.4.17"
 rmp-serde = "1.1.1"
 serde = { version = "1.0.149", features = ["derive"] }
diff --git a/tools/hula/proxy/src/dbus.rs b/services/hula/src/dbus.rs
similarity index 93%
rename from tools/hula/proxy/src/dbus.rs
rename to services/hula/src/dbus.rs
index 9244acfb26..50accef164 100644
--- a/tools/hula/proxy/src/dbus.rs
+++ b/services/hula/src/dbus.rs
@@ -8,7 +8,9 @@ use zbus::{
 };
 
 use crate::SharedState;
-use constants::{HULA_DBUS_PATH, HULA_DBUS_SERVICE};
+
+const HULA_DBUS_SERVICE: &str = "org.hulks.hula";
+const HULA_DBUS_PATH: &str = "/org/hulks/HuLA";
 
 struct RobotInfo {
     shared_state: Arc<Mutex<SharedState>>,
diff --git a/tools/hula/proxy/src/idle.rs b/services/hula/src/idle.rs
similarity index 100%
rename from tools/hula/proxy/src/idle.rs
rename to services/hula/src/idle.rs
diff --git a/tools/hula/proxy/src/main.rs b/services/hula/src/main.rs
similarity index 100%
rename from tools/hula/proxy/src/main.rs
rename to services/hula/src/main.rs
diff --git a/tools/hula/proxy/src/proxy.rs b/services/hula/src/proxy.rs
similarity index 99%
rename from tools/hula/proxy/src/proxy.rs
rename to services/hula/src/proxy.rs
index f35e6cf90b..3d72433fe5 100644
--- a/tools/hula/proxy/src/proxy.rs
+++ b/services/hula/src/proxy.rs
@@ -25,8 +25,8 @@ use crate::{
     idle::{charging_skull, send_idle},
     SharedState,
 };
-use constants::HULA_SOCKET_PATH;
 
+const HULA_SOCKET_PATH: &str = "/tmp/hula";
 const LOLA_SOCKET_PATH: &str = "/tmp/robocup";
 const LOLA_SOCKET_RETRY_COUNT: usize = 60;
 const LOLA_SOCKET_RETRY_INTERVAL: Duration = Duration::from_secs(1);
diff --git a/tools/hula/proxy/Cargo.toml b/tools/hula/proxy/Cargo.toml
deleted file mode 100644
index f3827c9585..0000000000
--- a/tools/hula/proxy/Cargo.toml
+++ /dev/null
@@ -1,18 +0,0 @@
-[package]
-name = "hula"
-version = "0.5.0"
-edition.workspace = true
-license.workspace = true
-homepage.workspace = true
-
-[dependencies]
-clap = { workspace = true }
-color-eyre = { workspace = true }
-constants = { workspace = true }
-env_logger = { workspace = true }
-epoll = { workspace = true }
-hula-types = { workspace = true }
-log = { workspace = true }
-rmp-serde = { workspace = true }
-systemd = { workspace = true }
-zbus = { workspace = true }
diff --git a/tools/pepsi/Cargo.toml b/tools/pepsi/Cargo.toml
index 8c5aeea021..89d56c3a5a 100644
--- a/tools/pepsi/Cargo.toml
+++ b/tools/pepsi/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "pepsi"
-version = "3.17.0"
+version = "4.0.0"
 edition.workspace = true
 license.workspace = true
 homepage.workspace = true
@@ -12,10 +12,11 @@ bat = { workspace = true }
 clap = { workspace = true }
 clap_complete = { workspace = true }
 color-eyre = { workspace = true }
-constants = { workspace = true }
 futures-util = { workspace = true }
+glob = { workspace = true }
 indicatif = { workspace = true }
 lazy_static = { workspace = true }
+log = { workspace = true }
 nao = { workspace = true }
 opn = { workspace = true }
 regex = { workspace = true }
@@ -24,6 +25,9 @@ serde = { workspace = true }
 serde_json = { workspace = true }
 source_analyzer = { workspace = true }
 spl_network_messages = { workspace = true }
+tempfile = { workspace = true }
 thiserror = { workspace = true }
 tokio = { workspace = true }
 toml = { workspace = true }
+tracing = { workspace = true }
+tracing-subscriber = { workspace = true }
diff --git a/tools/pepsi/src/aliveness.rs b/tools/pepsi/src/aliveness.rs
index f0b2a9f7dc..93f1d51e27 100644
--- a/tools/pepsi/src/aliveness.rs
+++ b/tools/pepsi/src/aliveness.rs
@@ -1,7 +1,12 @@
-use std::{collections::BTreeMap, net::IpAddr, num::ParseIntError, time::Duration};
+use std::{collections::BTreeMap, net::IpAddr, num::ParseIntError, path::Path, time::Duration};
 
 use clap::{arg, Args};
-use color_eyre::owo_colors::{OwoColorize, Style};
+use color_eyre::{
+    eyre::Context,
+    owo_colors::{OwoColorize, Style},
+    Result,
+};
+use log::error;
 
 use aliveness::{
     query_aliveness,
@@ -9,15 +14,15 @@ use aliveness::{
     AlivenessError, AlivenessState, Battery, JointsArray,
 };
 use argument_parsers::NaoAddress;
-use constants::OS_VERSION;
+use repository::configuration::read_os_version;
 
 #[derive(Args)]
 pub struct Arguments {
     /// Output verbose version of the aliveness information
-    #[arg(long, short = 'v')]
+    #[arg(long, short = 'v', conflicts_with = "json")]
     verbose: bool,
     /// Output aliveness information as json
-    #[arg(long, short = 'j')]
+    #[arg(long, short = 'j', conflicts_with = "verbose")]
     json: bool,
     /// Timeout in ms for waiting for responses
     #[arg(long, short = 't', value_parser = parse_duration, default_value = "200")]
@@ -33,27 +38,34 @@ fn parse_duration(arg: &str) -> Result<Duration, ParseIntError> {
 
 type AlivenessList = BTreeMap<IpAddr, AlivenessState>;
 
-#[derive(Debug, thiserror::Error)]
-pub enum Error {
-    #[error("failed to query aliveness")]
-    QueryFailed(AlivenessError),
-    #[error("failed to serialize data")]
-    SerializeFailed(serde_json::Error),
-}
-
-pub async fn aliveness(arguments: Arguments) -> Result<(), Error> {
+pub async fn aliveness(
+    arguments: Arguments,
+    repository_root: Result<impl AsRef<Path>>,
+) -> Result<()> {
     let states = query_aliveness_list(&arguments)
         .await
-        .map_err(Error::QueryFailed)?;
+        .wrap_err("failed to query aliveness")?;
     if arguments.json {
-        println!(
-            "{}",
-            serde_json::to_string(&states).map_err(Error::SerializeFailed)?
-        );
+        let json = serde_json::to_string(&states).wrap_err("failed to serialize aliveness")?;
+        println!("{json}");
     } else if arguments.verbose {
         print_verbose(&states);
     } else {
-        print_summary(&states);
+        let expected_os_version = match repository_root {
+            Ok(repository_root) => match read_os_version(repository_root).await {
+                Ok(version) => Some(version),
+                Err(error) => {
+                    error!("{error:#?}");
+                    None
+                }
+            },
+            Err(error) => {
+                error!("{error:#?}");
+                None
+            }
+        };
+
+        print_summary(&states, expected_os_version);
     }
     Ok(())
 }
@@ -136,8 +148,8 @@ impl SummaryElements {
         }
     }
 
-    fn append_os_version(&mut self, version: &str) {
-        if version != OS_VERSION {
+    fn append_os_version(&mut self, version: &str, expected_os_version: &str) {
+        if version != expected_os_version {
             self.append(OS_ICON, version, Style::new());
         }
     }
@@ -153,7 +165,7 @@ impl SummaryElements {
     }
 }
 
-fn print_summary(states: &AlivenessList) {
+fn print_summary(states: &AlivenessList, expected_os_version: Option<String>) {
     for (ip, state) in states.iter() {
         let id = match ip {
             IpAddr::V4(ip) => ip.octets()[3],
@@ -164,7 +176,9 @@ fn print_summary(states: &AlivenessList) {
 
         output.append_battery(&state.battery);
         output.append_temperature(&state.temperature);
-        output.append_os_version(&state.hulks_os_version);
+        if let Some(expected_os_version) = &expected_os_version {
+            output.append_os_version(&state.hulks_os_version, expected_os_version);
+        }
         let SystemServices {
             hal,
             hula,
diff --git a/tools/pepsi/src/analyze.rs b/tools/pepsi/src/analyze.rs
index d85cc06b15..bdaa37351d 100644
--- a/tools/pepsi/src/analyze.rs
+++ b/tools/pepsi/src/analyze.rs
@@ -1,12 +1,41 @@
-use std::path::PathBuf;
+use std::path::{Path, PathBuf};
 
 use bat::{PagingMode, PrettyPrinter};
 use clap::Subcommand;
-use color_eyre::{eyre::WrapErr, Result};
+use color_eyre::{
+    eyre::{eyre, WrapErr},
+    Result,
+};
 
-use repository::Repository;
 use source_analyzer::{contexts::Contexts, node::parse_rust_file, pretty::to_string_pretty};
 
+fn find_latest_file(path_pattern: impl AsRef<Path>) -> Result<PathBuf> {
+    let matching_paths: Vec<_> = glob::glob(
+        path_pattern
+            .as_ref()
+            .to_str()
+            .ok_or_else(|| eyre!("failed to interpret path as Unicode"))?,
+    )
+    .wrap_err("failed to execute glob() over target directory")?
+    .map(|entry| {
+        let path = entry.wrap_err("failed to get glob() entry")?;
+        let metadata = path
+            .metadata()
+            .wrap_err_with(|| format!("failed to get metadata of path {path:?}"))?;
+        let modified_time = metadata.modified().wrap_err_with(|| {
+            format!("failed to get modified time from metadata of path {path:?}")
+        })?;
+        Ok((path, modified_time))
+    })
+    .collect::<Result<_>>()
+    .wrap_err("failed to get matching paths")?;
+    let (path_with_maximal_modified_time, _modified_time) = matching_paths
+        .iter()
+        .max_by_key(|(_path, modified_time)| modified_time)
+        .ok_or_else(|| eyre!("failed to find any matching path"))?;
+    Ok(path_with_maximal_modified_time.to_path_buf())
+}
+
 #[derive(Subcommand)]
 #[allow(clippy::enum_variant_names)]
 pub enum Arguments {
@@ -20,7 +49,10 @@ pub enum Arguments {
     },
 }
 
-pub async fn analyze(arguments: Arguments, repository: &Repository) -> Result<()> {
+pub async fn analyze(
+    arguments: Arguments,
+    repository_root: Result<impl AsRef<Path>>,
+) -> Result<()> {
     match arguments {
         Arguments::DumpContexts { file_path } => {
             let file = parse_rust_file(file_path).wrap_err("failed to parse rust file")?;
@@ -30,10 +62,10 @@ pub async fn analyze(arguments: Arguments, repository: &Repository) -> Result<()
             print!("{string}");
         }
         Arguments::DumpLatest { file_name } => {
+            let repository_root = repository_root?;
             let glob = format!("target/**/{file_name}");
             println!("{glob}");
-            let file_path = repository
-                .find_latest_file(&glob)
+            let file_path = find_latest_file(repository_root.as_ref().join(glob))
                 .wrap_err("failed find latest generated file")?;
             println!("{}", file_path.display());
             PrettyPrinter::new()
diff --git a/tools/pepsi/src/cargo.rs b/tools/pepsi/src/cargo.rs
index ffeda64d7a..15fdbd20d2 100644
--- a/tools/pepsi/src/cargo.rs
+++ b/tools/pepsi/src/cargo.rs
@@ -1,105 +1,47 @@
+use std::path::Path;
+
 use clap::Args;
-use color_eyre::{
-    eyre::{bail, WrapErr},
-    Result,
+use color_eyre::{eyre::WrapErr, Result};
+use repository::{
+    cargo::{run_shell, Cargo, Environment, Executor},
+    configuration::read_sdk_version,
+    data_home::get_data_home,
+    sdk::download_and_install,
 };
-use tokio::process::Command as TokioCommand;
-
-use constants::OS_IS_NOT_LINUX;
-use repository::Repository;
 
-#[derive(Args)]
+#[derive(Args, Clone)]
 pub struct Arguments {
-    /// Apply to entire workspace (only valid for build/check/clippy)
-    #[arg(long)]
-    pub workspace: bool,
     #[arg(long, default_value = "incremental")]
     pub profile: String,
-    #[arg(long, default_value = "webots")]
-    pub target: String,
-    #[arg(long)]
-    pub no_sdk_installation: bool,
     #[arg(long, default_value = None, num_args = 1..)]
     pub features: Option<Vec<String>>,
-    /// Pass through arguments to cargo ... -- PASSTHROUGH_ARGUMENTS
+    #[arg(default_value = "nao")]
+    pub target: String,
+    #[arg(long)]
+    pub workspace: bool,
+    /// Pass through arguments to cargo
     #[arg(last = true, value_parser)]
     pub passthrough_arguments: Vec<String>,
-    /// Use a remote machine for compilation, see ./scripts/remote for details
+    /// Use the SDK (automatically set when target is `nao`)
+    #[arg(long)]
+    pub sdk: bool,
+    /// Use docker for execution, only relevant when using the SDK
+    #[arg(long)]
+    pub docker: bool,
+    /// Use a remote machine for execution, see ./scripts/remote for details
     #[arg(long)]
     pub remote: bool,
 }
 
-#[derive(Debug)]
-pub enum Command {
-    Build,
-    Check,
-    Clippy,
-    Run,
-}
-
-pub async fn cargo(arguments: Arguments, repository: &Repository, command: Command) -> Result<()> {
+pub async fn cargo(
+    command: &str,
+    arguments: Arguments,
+    repository_root: impl AsRef<Path>,
+) -> Result<()> {
     if arguments.remote {
-        return remote(arguments, command).await;
-    }
-
-    if !arguments.no_sdk_installation && arguments.target == "nao" {
-        let installation_directory = repository
-            .link_sdk_home(None)
-            .await
-            .wrap_err("failed to link SDK home")?;
-
-        let use_docker = OS_IS_NOT_LINUX;
-        if !use_docker {
-            repository
-                .install_sdk(None, installation_directory)
-                .await
-                .wrap_err("failed to install SDK")?;
-        }
-    }
-
-    match command {
-        Command::Build => repository
-            .build(
-                arguments.workspace,
-                &arguments.profile,
-                &arguments.target,
-                arguments.features,
-                &arguments.passthrough_arguments,
-            )
-            .await
-            .wrap_err("failed to build")?,
-        Command::Check => repository
-            .check(arguments.workspace, &arguments.profile, &arguments.target)
-            .await
-            .wrap_err("failed to check")?,
-        Command::Clippy => repository
-            .clippy(arguments.workspace, &arguments.profile, &arguments.target)
-            .await
-            .wrap_err("failed to run clippy")?,
-        Command::Run => {
-            if arguments.workspace {
-                println!("INFO: Found --workspace with run subcommand, ignoring...")
-            }
-            repository
-                .run(
-                    &arguments.profile,
-                    &arguments.target,
-                    arguments.features,
-                    &arguments.passthrough_arguments,
-                )
-                .await
-                .wrap_err("failed to run")?
-        }
-    }
-
-    Ok(())
-}
-
-pub async fn remote(arguments: Arguments, command: Command) -> Result<()> {
-    match command {
-        Command::Build => {
-            let mut command = TokioCommand::new("./scripts/remoteWorkspace");
-
+        let remote_script = "./scripts/remoteWorkspace";
+        let mut remote_command = remote_script.to_string();
+        if command == "build" {
             let profile_name = match arguments.profile.as_str() {
                 "dev" => "debug",
                 other => other,
@@ -108,44 +50,93 @@ pub async fn remote(arguments: Arguments, command: Command) -> Result<()> {
                 "nao" => "x86_64-aldebaran-linux-gnu/",
                 _ => "",
             };
-            command.args([
-                "--return-file",
-                &format!(
-                    "target/{toolchain_name}{profile_name}/hulk_{}",
-                    arguments.target
-                ),
-            ]);
+            remote_command.push_str(&format!(
+                " --return-file target/{toolchain_name}{profile_name}/hulk_{target}",
+                profile_name = profile_name,
+                toolchain_name = toolchain_name,
+                target = arguments.target
+            ));
+        }
+        remote_command.push_str(&format!(
+            " ./pepsi {command} --profile {profile}",
+            profile = arguments.profile,
+        ));
+        if let Some(features) = &arguments.features {
+            remote_command.push_str(&format!(
+                " --features {features}",
+                features = features.join(",")
+            ));
+        }
+        if arguments.workspace {
+            remote_command.push_str(" --workspace");
+        }
+        if arguments.sdk {
+            remote_command.push_str(" --sdk");
+        }
+        if arguments.docker {
+            remote_command.push_str(" --docker");
+        }
+        remote_command.push_str(&format!(" {target}", target = arguments.target));
+        if !arguments.passthrough_arguments.is_empty() {
+            remote_command.push_str(" -- ");
+            remote_command.push_str(&arguments.passthrough_arguments.join(" "));
+        }
+        run_shell(&remote_command)
+            .await
+            .wrap_err("failed to run remote script")?;
+    } else {
+        let sdk_version = read_sdk_version(&repository_root)
+            .await
+            .wrap_err("failed to get HULK OS version")?;
+        let data_home = get_data_home().wrap_err("failed to get data home")?;
+        let use_sdk = arguments.sdk || (command == "build" && arguments.target == "nao");
+        let cargo = if use_sdk {
+            if arguments.docker || !cfg!(target_os = "linux") {
+                Cargo::sdk(Environment {
+                    executor: Executor::Docker,
+                    version: sdk_version,
+                })
+            } else {
+                download_and_install(&sdk_version, data_home)
+                    .await
+                    .wrap_err("failed to install SDK")?;
+                Cargo::sdk(Environment {
+                    executor: Executor::Native,
+                    version: sdk_version,
+                })
+            }
+        } else {
+            Cargo::native()
+        };
 
-            command
-                .arg("./pepsi")
-                .arg("build")
-                .arg("--profile")
-                .arg(arguments.profile)
-                .arg("--target")
-                .arg(arguments.target);
+        let mut cargo_command = cargo.command(command, repository_root.as_ref())?;
 
-            if arguments.workspace {
-                command.arg("--workspace");
-            }
-            if arguments.no_sdk_installation {
-                command.arg("--no-sdk-installation");
-            }
-            command.arg("--");
-            command.args(arguments.passthrough_arguments);
+        cargo_command.profile(&arguments.profile);
 
-            let status = command
-                .status()
-                .await
-                .wrap_err("failed to execute remote script")?;
+        if let Some(features) = &arguments.features {
+            cargo_command.features(features);
+        }
 
-            if !status.success() {
-                bail!("remote script exited with code {}", status.code().unwrap())
-            }
+        let manifest_path = format!(
+            "./crates/hulk_{target}/Cargo.toml",
+            target = arguments.target
+        );
+        cargo_command.manifest_path(Path::new(&manifest_path))?;
 
-            Ok(())
+        if !arguments.passthrough_arguments.is_empty() {
+            cargo_command.passthrough_arguments(&arguments.passthrough_arguments);
         }
-        Command::Check | Command::Clippy | Command::Run => {
-            unimplemented!("remote option is not compatible with cargo command: {command:?}")
+
+        if arguments.workspace {
+            cargo_command.workspace();
+            cargo_command.all_targets();
+            cargo_command.all_features();
         }
+
+        let shell_command = cargo_command.shell_command()?;
+        run_shell(&shell_command)
+            .await
+            .wrap_err("failed to run cargo build")?;
     }
+    Ok(())
 }
diff --git a/tools/pepsi/src/communication.rs b/tools/pepsi/src/communication.rs
index f9b40fecfb..a1a35096ac 100644
--- a/tools/pepsi/src/communication.rs
+++ b/tools/pepsi/src/communication.rs
@@ -1,7 +1,8 @@
+use std::path::Path;
+
 use clap::Subcommand;
 use color_eyre::{eyre::WrapErr, Result};
-
-use repository::Repository;
+use repository::communication::configure_communication;
 
 #[derive(Subcommand)]
 pub enum Arguments {
@@ -9,9 +10,8 @@ pub enum Arguments {
     Disable,
 }
 
-pub async fn communication(arguments: Arguments, repository: &Repository) -> Result<()> {
-    repository
-        .set_communication(matches!(arguments, Arguments::Enable))
+pub async fn communication(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
+    configure_communication(matches!(arguments, Arguments::Enable), repository_root)
         .await
         .wrap_err("failed to set communication enablement")
 }
diff --git a/tools/pepsi/src/completions.rs b/tools/pepsi/src/completions.rs
index 2cc28773a5..3f7e57c3d1 100644
--- a/tools/pepsi/src/completions.rs
+++ b/tools/pepsi/src/completions.rs
@@ -85,9 +85,9 @@ fn dynamic_completions(shell: Shell, static_completions: String) {
                 ("reboot", ""),
                 ("shell", ""),
                 ("upload", ""),
-                ("wireless", "list"),
-                ("wireless", "set"),
-                ("wireless", "status"),
+                ("wifi", "list"),
+                ("wifi", "set"),
+                ("wifi", "status"),
             ];
             for (first, second) in COMPLETION_SUBCOMMANDS {
                 if second.is_empty() {
diff --git a/tools/pepsi/src/gammaray.rs b/tools/pepsi/src/gammaray.rs
index ed0d48c499..5a823cec24 100644
--- a/tools/pepsi/src/gammaray.rs
+++ b/tools/pepsi/src/gammaray.rs
@@ -1,13 +1,12 @@
-use std::path::PathBuf;
+use std::path::{Path, PathBuf};
 
 use clap::Args;
 use color_eyre::{eyre::WrapErr, Result};
 
 use argument_parsers::NaoAddress;
-use constants::OS_VERSION;
 use nao::Nao;
 use opn::verify_image;
-use repository::{get_image_path, Repository};
+use repository::{configuration::read_os_version, data_home::get_data_home, image::download_image};
 
 use crate::progress_indicator::ProgressIndicator;
 
@@ -18,23 +17,29 @@ pub struct Arguments {
     image_path: Option<PathBuf>,
     /// Alternative HULKs-OS version e.g. 3.3
     #[arg(long)]
-    os_version: Option<String>,
+    version: Option<String>,
     /// The NAOs to flash the image to, e.g. 20w or 10.1.24.22
     #[arg(required = true)]
     naos: Vec<NaoAddress>,
 }
 
-pub async fn gammaray(arguments: Arguments, repository: &Repository) -> Result<()> {
-    let version = arguments.os_version.as_deref().unwrap_or(OS_VERSION);
+pub async fn gammaray(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
+    let version = match arguments.version {
+        Some(version) => version,
+        None => read_os_version(&repository_root)
+            .await
+            .wrap_err("failed to get OS version")?,
+    };
+    let data_home = get_data_home()?;
     let image_path = match arguments.image_path {
         Some(image_path) => image_path,
-        None => get_image_path(version).await?,
+        None => download_image(&version, data_home).await?,
     };
     let image_path = image_path.as_path();
 
     verify_image(image_path).wrap_err("image verification failed")?;
 
-    let team_toml = &repository.parameters_root().join("team.toml");
+    let team_toml = &repository_root.as_ref().join("etc/parameters/team.toml");
 
     ProgressIndicator::map_tasks(
         arguments.naos,
@@ -48,8 +53,8 @@ pub async fn gammaray(arguments: Arguments, repository: &Repository) -> Result<(
             .wrap_err_with(|| format!("failed to flash image to {nao_address}"))?;
             progress_bar.set_message("Uploading team configuration...");
             nao.rsync_with_nao(false)
-                .arg(team_toml.to_str().unwrap())
-                .arg(format!("{}:/media/internal/", nao.host))
+                .arg(team_toml)
+                .arg(format!("{}:/media/internal/", nao.address))
                 .spawn()
                 .wrap_err("failed to upload team configuration")?;
             nao.reboot()
diff --git a/tools/pepsi/src/location.rs b/tools/pepsi/src/location.rs
index f6bf272b69..6ab048e821 100644
--- a/tools/pepsi/src/location.rs
+++ b/tools/pepsi/src/location.rs
@@ -1,7 +1,8 @@
+use std::path::Path;
+
 use clap::Subcommand;
 use color_eyre::{eyre::WrapErr, Result};
-
-use repository::Repository;
+use repository::location::{list_available_locations, list_configured_locations, set_location};
 
 #[derive(Subcommand)]
 pub enum Arguments {
@@ -20,12 +21,11 @@ pub enum Arguments {
     Status,
 }
 
-pub async fn location(arguments: Arguments, repository: &Repository) -> Result<()> {
+pub async fn location(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
     match arguments {
         Arguments::List {} => {
             println!("Available Locations:");
-            for location in repository
-                .list_available_locations()
+            for location in list_available_locations(repository_root)
                 .await
                 .wrap_err("failed to list available locations")?
             {
@@ -33,15 +33,13 @@ pub async fn location(arguments: Arguments, repository: &Repository) -> Result<(
             }
         }
         Arguments::Set { target, location } => {
-            repository
-                .set_location(&target, &location)
+            set_location(&target, &location, repository_root)
                 .await
                 .wrap_err_with(|| format!("failed setting location for {target}"))?;
         }
         Arguments::Status {} => {
             println!("Configured Locations:");
-            for (target, location) in repository
-                .get_configured_locations()
+            for (target, location) in list_configured_locations(repository_root)
                 .await
                 .wrap_err("failed to get configured locations")?
             {
diff --git a/tools/pepsi/src/main.rs b/tools/pepsi/src/main.rs
index e693bb8b19..efc2936039 100644
--- a/tools/pepsi/src/main.rs
+++ b/tools/pepsi/src/main.rs
@@ -1,11 +1,17 @@
-use std::path::PathBuf;
+use std::{env::current_dir, path::PathBuf};
 
 use clap::{CommandFactory, Parser, Subcommand};
-use color_eyre::{config::HookBuilder, eyre::WrapErr, Result};
+use color_eyre::{
+    config::HookBuilder,
+    eyre::{ContextCompat, WrapErr},
+    Result,
+};
+use log::warn;
+use repository::{find_root::find_repository_root, inspect_version::check_for_update};
 
 use crate::aliveness::{aliveness, Arguments as AlivenessArguments};
 use analyze::{analyze, Arguments as AnalyzeArguments};
-use cargo::{cargo, Arguments as CargoArguments, Command as CargoCommand};
+use cargo::{cargo, Arguments as CargoArguments};
 use communication::{communication, Arguments as CommunicationArguments};
 use completions::{completions, Arguments as CompletionArguments};
 use gammaray::{gammaray, Arguments as GammarayArguments};
@@ -19,11 +25,10 @@ use power_off::{power_off, Arguments as PoweroffArguments};
 use pre_game::{pre_game, Arguments as PreGameArguments};
 use reboot::{reboot, Arguments as RebootArguments};
 use recording::{recording, Arguments as RecordingArguments};
-use repository::{get_repository_root, Repository};
 use sdk::{sdk, Arguments as SdkArguments};
 use shell::{shell, Arguments as ShellArguments};
 use upload::{upload, Arguments as UploadArguments};
-use wireless::{wireless, Arguments as WirelessArguments};
+use wifi::{wifi, Arguments as WiFiArguments};
 
 mod aliveness;
 mod analyze;
@@ -45,159 +50,164 @@ mod recording;
 mod sdk;
 mod shell;
 mod upload;
-mod wireless;
+mod wifi;
+
+#[derive(Parser)]
+#[clap(version, name = "pepsi")]
+struct Arguments {
+    /// Alternative repository root
+    #[arg(long)]
+    repository_root: Option<PathBuf>,
+    #[command(subcommand)]
+    command: Command,
+}
+
+#[derive(Subcommand)]
+enum Command {
+    /// Analyze source code
+    #[clap(subcommand)]
+    Analyze(AnalyzeArguments),
+    /// Get aliveness information from NAOs
+    Aliveness(AlivenessArguments),
+    /// Builds the code for a target
+    Build(CargoArguments),
+    /// Checks the code with cargo check
+    Check(CargoArguments),
+    /// Checks the code with cargo clippy
+    Clippy(CargoArguments),
+    /// Enable/disable communication
+    #[command(subcommand)]
+    Communication(CommunicationArguments),
+    /// Generates shell completion files
+    Completions(CompletionArguments),
+    /// Flash a HULKs-OS image to NAOs
+    Gammaray(GammarayArguments),
+    /// Control the HULK service
+    Hulk(HulkArguments),
+    /// Control the configured location
+    #[command(subcommand)]
+    Location(LocationArguments),
+    /// Logging on the NAO
+    #[command(subcommand)]
+    Logs(LogsArguments),
+    /// Change player numbers of the NAOs in local parameters
+    Playernumber(PlayerNumberArguments),
+    /// Ping NAOs
+    Ping(PingArguments),
+    /// Disable NAOs after a game (downloads logs, unsets WiFi network, etc.)
+    Postgame(PostGameArguments),
+    /// Power NAOs off
+    Poweroff(PoweroffArguments),
+    /// Get NAOs ready for a game (sets player numbers, uploads, sets WiFi network, etc.)
+    Pregame(PreGameArguments),
+    /// Reboot NAOs
+    Reboot(RebootArguments),
+    /// Set cycler instances to be recorded
+    Recording(RecordingArguments),
+    /// Runs the code for a target
+    Run(CargoArguments),
+    /// Manage the NAO SDK
+    #[command(subcommand)]
+    Sdk(SdkArguments),
+    /// Opens a command line shell to a NAO
+    Shell(ShellArguments),
+    /// Upload the code to NAOs
+    Upload(UploadArguments),
+    /// Control WiFi network on the NAO
+    #[command(subcommand, name = "wifi")]
+    WiFi(WiFiArguments),
+}
 
 #[tokio::main]
 async fn main() -> Result<()> {
+    tracing_subscriber::fmt()
+        .with_max_level(tracing::Level::TRACE)
+        .init();
     HookBuilder::new().display_env_section(false).install()?;
 
     let arguments = Arguments::parse();
-    let repository_root = match arguments.repository_root {
-        Some(repository_root) => Ok(repository_root),
-        None => get_repository_root()
-            .await
-            .wrap_err("failed to get repository root"),
-    };
-    let repository = repository_root.map(Repository::new);
-    if let Ok(repository) = &repository {
-        repository.check_new_version_available(env!("CARGO_PKG_VERSION"), "tools/pepsi")?;
+    let repository_root = arguments.repository_root.map(Ok).unwrap_or_else(|| {
+        let current_directory = current_dir().wrap_err("failed to get current directory")?;
+        find_repository_root(current_directory).wrap_err("failed to find repository root")
+    });
+    if let Ok(repository_root) = &repository_root {
+        if let Err(error) = check_for_update(
+            env!("CARGO_PKG_VERSION"),
+            repository_root.join("tools/pepsi/Cargo.toml"),
+        ) {
+            warn!("{error:#?}");
+        }
     }
 
     match arguments.command {
-        Command::Analyze(arguments) => analyze(arguments, &repository?)
+        Command::Analyze(arguments) => analyze(arguments, repository_root)
             .await
             .wrap_err("failed to execute analyze command")?,
-        Command::Aliveness(arguments) => aliveness(arguments)
+        Command::Aliveness(arguments) => aliveness(arguments, repository_root)
             .await
             .wrap_err("failed to execute aliveness command")?,
-        Command::Build(arguments) => cargo(arguments, &repository?, CargoCommand::Build)
+        Command::Build(arguments) => cargo("build", arguments, repository_root?)
             .await
             .wrap_err("failed to execute build command")?,
-        Command::Check(arguments) => cargo(arguments, &repository?, CargoCommand::Check)
+        Command::Check(arguments) => cargo("check", arguments, repository_root?)
             .await
             .wrap_err("failed to execute check command")?,
-        Command::Clippy(arguments) => cargo(arguments, &repository?, CargoCommand::Clippy)
+        Command::Clippy(arguments) => cargo("clippy", arguments, repository_root?)
             .await
             .wrap_err("failed to execute clippy command")?,
-        Command::Communication(arguments) => communication(arguments, &repository?)
+        Command::Communication(arguments) => communication(arguments, repository_root?)
             .await
             .wrap_err("failed to execute communication command")?,
         Command::Completions(arguments) => completions(arguments, Arguments::command())
             .await
             .wrap_err("failed to execute completion command")?,
-        Command::Gammaray(arguments) => gammaray(arguments, &repository?)
+        Command::Gammaray(arguments) => gammaray(arguments, repository_root?)
             .await
             .wrap_err("failed to execute gammaray command")?,
         Command::Hulk(arguments) => hulk(arguments)
             .await
             .wrap_err("failed to execute hulk command")?,
-        Command::Location(arguments) => location(arguments, &repository?)
+        Command::Location(arguments) => location(arguments, repository_root?)
             .await
             .wrap_err("failed to execute location command")?,
         Command::Logs(arguments) => logs(arguments)
             .await
             .wrap_err("failed to execute logs command")?,
         Command::Ping(arguments) => ping(arguments).await,
-        Command::Playernumber(arguments) => player_number(arguments, &repository?)
+        Command::Playernumber(arguments) => player_number(arguments, repository_root?)
             .await
             .wrap_err("failed to execute player_number command")?,
         Command::Postgame(arguments) => post_game(arguments)
             .await
             .wrap_err("failed to execute post_game command")?,
-        Command::Poweroff(arguments) => power_off(arguments)
+        Command::Poweroff(arguments) => power_off(arguments, repository_root)
             .await
             .wrap_err("failed to execute power_off command")?,
-        Command::Pregame(arguments) => pre_game(arguments, &repository?)
+        Command::Pregame(arguments) => pre_game(arguments, repository_root?)
             .await
             .wrap_err("failed to execute pre_game command")?,
         Command::Reboot(arguments) => reboot(arguments)
             .await
             .wrap_err("failed to execute reboot command")?,
-        Command::Recording(arguments) => recording(arguments, &repository?)
+        Command::Recording(arguments) => recording(arguments, repository_root?)
             .await
             .wrap_err("failed to execute recording command")?,
-        Command::Run(arguments) => cargo(arguments, &repository?, CargoCommand::Run)
+        Command::Run(arguments) => cargo("run", arguments, repository_root?)
             .await
             .wrap_err("failed to execute run command")?,
-        Command::Sdk(arguments) => sdk(arguments, &repository?)
+        Command::Sdk(arguments) => sdk(arguments, repository_root?)
             .await
             .wrap_err("failed to execute sdk command")?,
         Command::Shell(arguments) => shell(arguments)
             .await
             .wrap_err("failed to execute shell command")?,
-        Command::Upload(arguments) => upload(arguments, &repository?)
+        Command::Upload(arguments) => upload(arguments, repository_root?)
             .await
             .wrap_err("failed to execute upload command")?,
-        Command::Wireless(arguments) => wireless(arguments)
+        Command::WiFi(arguments) => wifi(arguments)
             .await
-            .wrap_err("failed to execute wireless command")?,
+            .wrap_err("failed to execute wifi command")?,
     }
 
     Ok(())
 }
-
-#[derive(Parser)]
-#[clap(version, name = "pepsi")]
-struct Arguments {
-    /// Alternative repository root (if not given the parent of .git is used)
-    #[arg(long)]
-    repository_root: Option<PathBuf>,
-    #[command(subcommand)]
-    command: Command,
-}
-
-#[derive(Subcommand)]
-enum Command {
-    /// Analyze source code
-    #[clap(subcommand)]
-    Analyze(AnalyzeArguments),
-    /// Get aliveness information from NAOs
-    Aliveness(AlivenessArguments),
-    /// Builds the code for a target
-    Build(CargoArguments),
-    /// Checks the code with cargo check
-    Check(CargoArguments),
-    /// Checks the code with cargo clippy
-    Clippy(CargoArguments),
-    /// Enable/disable communication
-    #[command(subcommand)]
-    Communication(CommunicationArguments),
-    /// Generates shell completion files
-    Completions(CompletionArguments),
-    /// Flash a HULKs-OS image to NAOs
-    Gammaray(GammarayArguments),
-    /// Control the HULK service
-    Hulk(HulkArguments),
-    /// Control the configured location
-    #[command(subcommand)]
-    Location(LocationArguments),
-    /// Logging on the NAO
-    #[command(subcommand)]
-    Logs(LogsArguments),
-    /// Change player numbers of the NAOs in local parameters
-    Playernumber(PlayerNumberArguments),
-    /// Ping NAOs
-    Ping(PingArguments),
-    /// Disable NAOs after a game (downloads logs, unsets wireless network, etc.)
-    Postgame(PostGameArguments),
-    /// Power NAOs off
-    Poweroff(PoweroffArguments),
-    /// Get NAOs ready for a game (sets player numbers, uploads, sets wireless network, etc.)
-    Pregame(PreGameArguments),
-    /// Reboot NAOs
-    Reboot(RebootArguments),
-    /// Set cycler instances to be recorded
-    Recording(RecordingArguments),
-    /// Runs the code for a target
-    Run(CargoArguments),
-    /// Manage the NAO SDK
-    #[command(subcommand)]
-    Sdk(SdkArguments),
-    /// Opens a command line shell to a NAO
-    Shell(ShellArguments),
-    /// Upload the code to NAOs
-    Upload(UploadArguments),
-    /// Control wireless network on the NAO
-    #[command(subcommand)]
-    Wireless(WirelessArguments),
-}
diff --git a/tools/pepsi/src/ping.rs b/tools/pepsi/src/ping.rs
index 92a114ed02..70555fd164 100644
--- a/tools/pepsi/src/ping.rs
+++ b/tools/pepsi/src/ping.rs
@@ -1,3 +1,5 @@
+use std::time::Duration;
+
 use clap::Args;
 
 use argument_parsers::NaoAddress;
@@ -7,9 +9,9 @@ use crate::progress_indicator::ProgressIndicator;
 
 #[derive(Args)]
 pub struct Arguments {
-    /// Time in seconds after which ping is aborted
+    /// Timeout in seconds after which ping is aborted
     #[arg(long, default_value = "2")]
-    pub timeout_seconds: u32,
+    pub timeout: u64,
     /// The NAOs to ping to e.g. 20w or 10.1.24.22
     #[arg(required = true)]
     pub naos: Vec<NaoAddress>,
@@ -20,9 +22,12 @@ pub async fn ping(arguments: Arguments) {
         arguments.naos,
         "Pinging NAO...",
         |nao_address, _progress_bar| async move {
-            Nao::try_new_with_ping_and_arguments(nao_address.ip, arguments.timeout_seconds)
-                .await
-                .map(|_| ())
+            Nao::try_new_with_ping_and_arguments(
+                nao_address.ip,
+                Duration::from_secs(arguments.timeout),
+            )
+            .await
+            .map(|_| ())
         },
     )
     .await;
diff --git a/tools/pepsi/src/player_number.rs b/tools/pepsi/src/player_number.rs
index c82b48af47..76e99e5381 100644
--- a/tools/pepsi/src/player_number.rs
+++ b/tools/pepsi/src/player_number.rs
@@ -1,4 +1,4 @@
-use std::collections::HashSet;
+use std::{collections::HashSet, path::Path};
 
 use clap::Args;
 use color_eyre::{
@@ -7,7 +7,7 @@ use color_eyre::{
 };
 
 use argument_parsers::NaoNumberPlayerAssignment;
-use repository::Repository;
+use repository::{player_number::configure_player_number, team::read_team_configuration};
 
 use crate::progress_indicator::ProgressIndicator;
 
@@ -18,29 +18,17 @@ pub struct Arguments {
     pub assignments: Vec<NaoNumberPlayerAssignment>,
 }
 
-pub async fn player_number(arguments: Arguments, repository: &Repository) -> Result<()> {
-    let team = repository
-        .get_configured_team()
+pub async fn player_number(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
+    let repository_root = repository_root.as_ref();
+    let team = read_team_configuration(repository_root)
         .await
-        .wrap_err("failed to get configured team")?;
+        .wrap_err("failed to get team configuration")?;
 
-    // Check if two NaoNumbers are assigned to the same PlayerNumber
-    // or if a NaoNumber is assigned to multiple PlayerNumbers
-    let mut existing_player_numbers = HashSet::new();
-    let mut existing_nao_numbers = HashSet::new();
+    check_for_duplication(&arguments.assignments)?;
 
-    if arguments.assignments.iter().any(
-        |NaoNumberPlayerAssignment {
-             nao_number,
-             player_number,
-         }| {
-            !existing_nao_numbers.insert(nao_number)
-                || !existing_player_numbers.insert(player_number)
-        },
-    ) {
-        bail!("Duplication in NAO to player number assignments")
-    }
+    // reborrows the team to avoid moving it into the closure
     let naos = &team.naos;
+
     ProgressIndicator::map_tasks(
         arguments.assignments,
         "Setting player number...",
@@ -50,8 +38,7 @@ pub async fn player_number(arguments: Arguments, repository: &Repository) -> Res
                 .iter()
                 .find(|nao| nao.number == number)
                 .ok_or_else(|| eyre!("NAO with Hardware ID {number} does not exist"))?;
-            repository
-                .set_player_number(&nao.head_id, assignment.player_number)
+            configure_player_number(&nao.head_id, assignment.player_number, repository_root)
                 .await
                 .wrap_err_with(|| format!("failed to set player number for {assignment}"))
         },
@@ -60,3 +47,23 @@ pub async fn player_number(arguments: Arguments, repository: &Repository) -> Res
 
     Ok(())
 }
+
+fn check_for_duplication(assignments: &[NaoNumberPlayerAssignment]) -> Result<()> {
+    // Check if two NaoNumbers are assigned to the same PlayerNumber
+    // or if a NaoNumber is assigned to multiple PlayerNumbers
+    let mut existing_player_numbers = HashSet::new();
+    let mut existing_nao_numbers = HashSet::new();
+
+    if assignments.iter().any(
+        |NaoNumberPlayerAssignment {
+             nao_number,
+             player_number,
+         }| {
+            !existing_nao_numbers.insert(nao_number)
+                || !existing_player_numbers.insert(player_number)
+        },
+    ) {
+        bail!("duplication in NAO to player number assignments")
+    }
+    Ok(())
+}
diff --git a/tools/pepsi/src/post_game.rs b/tools/pepsi/src/post_game.rs
index 08cc762d7a..221b57200a 100644
--- a/tools/pepsi/src/post_game.rs
+++ b/tools/pepsi/src/post_game.rs
@@ -1,28 +1,18 @@
 use std::path::PathBuf;
 
-use clap::{
-    builder::{PossibleValuesParser, TypedValueParser},
-    Args,
-};
+use clap::Args;
 use color_eyre::{eyre::WrapErr, Result};
 
-use argument_parsers::{parse_network, NaoAddress, NETWORK_POSSIBLE_VALUES};
-use nao::{Network, SystemctlAction};
+use argument_parsers::NaoAddress;
+use nao::{Nao, Network, SystemctlAction};
 
-use crate::{
-    hulk::{hulk, Arguments as HulkArguments},
-    logs::{logs, Arguments as LogsArguments},
-    wireless::{wireless, Arguments as WirelessArguments},
-};
+use crate::progress_indicator::ProgressIndicator;
 
 #[derive(Args)]
 pub struct Arguments {
-    /// The network to connect the wireless device to (None disconnects from anything)
-    #[arg(
-        value_parser = PossibleValuesParser::new(NETWORK_POSSIBLE_VALUES)
-            .map(|s| parse_network(&s).unwrap()))
-    ]
-    pub network: Network,
+    /// Do not disconnect from the WiFi network
+    #[arg(long)]
+    pub no_disconnect: bool,
     /// Directory where to store the downloaded logs (will be created if not existing)
     pub log_directory: PathBuf,
     /// The NAOs to execute that command on e.g. 20w or 10.1.24.22
@@ -31,26 +21,33 @@ pub struct Arguments {
 }
 
 pub async fn post_game(arguments: Arguments) -> Result<()> {
-    hulk(HulkArguments {
-        action: SystemctlAction::Stop,
-        naos: arguments.naos.clone(),
-    })
-    .await
-    .wrap_err("failed to start HULK service")?;
-
-    logs(LogsArguments::Download {
-        log_directory: arguments.log_directory,
-        naos: arguments.naos.clone(),
-    })
-    .await
-    .wrap_err("failed to download logs")?;
-
-    wireless(WirelessArguments::Set {
-        network: arguments.network,
-        naos: arguments.naos,
-    })
-    .await
-    .wrap_err("failed to set wireless network")?;
+    let arguments = &arguments;
+    ProgressIndicator::map_tasks(
+        &arguments.naos,
+        "Executing postgame tasks...",
+        |nao_address, progress_bar| async move {
+            let nao = Nao::try_new_with_ping(nao_address.ip).await?;
+            progress_bar.set_message("Stopping HULK service...");
+            nao.execute_systemctl(SystemctlAction::Stop, "hulk")
+                .await
+                .wrap_err_with(|| format!("failed to execute systemctl hulk on {nao_address}"))?;
+
+            progress_bar.set_message("Disconnecting from WiFi...");
+            nao.set_wifi(Network::None)
+                .await
+                .wrap_err_with(|| format!("failed to set network on {nao_address}"))?;
+
+            progress_bar.set_message("Downloading logs...");
+            let log_directory = arguments.log_directory.join(nao_address.to_string());
+            nao.download_logs(log_directory, |status| {
+                progress_bar.set_message(format!("Downloading logs: {status}"))
+            })
+            .await
+            .wrap_err_with(|| format!("failed to download logs from {nao_address}"))?;
+            Ok(())
+        },
+    )
+    .await;
 
     Ok(())
 }
diff --git a/tools/pepsi/src/power_off.rs b/tools/pepsi/src/power_off.rs
index 45a1738d6c..6f5f6106fd 100644
--- a/tools/pepsi/src/power_off.rs
+++ b/tools/pepsi/src/power_off.rs
@@ -1,10 +1,12 @@
+use std::path::Path;
+
 use clap::Args;
 use color_eyre::{eyre::WrapErr, Result};
 
 use argument_parsers::{number_to_ip, Connection, NaoAddress};
-use constants::TEAM;
 use futures_util::{stream::FuturesUnordered, StreamExt};
 use nao::Nao;
+use repository::team::read_team_configuration;
 
 use crate::progress_indicator::ProgressIndicator;
 
@@ -18,9 +20,16 @@ pub struct Arguments {
     pub naos: Vec<NaoAddress>,
 }
 
-pub async fn power_off(arguments: Arguments) -> Result<()> {
+pub async fn power_off(
+    arguments: Arguments,
+    repository_root: Result<impl AsRef<Path>>,
+) -> Result<()> {
     if arguments.all {
-        let addresses = TEAM
+        let repository_root = repository_root?;
+        let team = read_team_configuration(repository_root)
+            .await
+            .wrap_err("failed to get team configuration")?;
+        let addresses = team
             .naos
             .iter()
             .map(|nao| async move {
diff --git a/tools/pepsi/src/pre_game.rs b/tools/pepsi/src/pre_game.rs
index f6a23f1afa..1be1cac360 100644
--- a/tools/pepsi/src/pre_game.rs
+++ b/tools/pepsi/src/pre_game.rs
@@ -1,27 +1,37 @@
+use std::{collections::HashMap, path::Path};
+
 use clap::{
     builder::{PossibleValuesParser, TypedValueParser},
     Args,
 };
-use color_eyre::{eyre::WrapErr, Result};
+use color_eyre::{
+    eyre::{bail, WrapErr},
+    Result,
+};
 
-use argument_parsers::{parse_network, NaoAddressPlayerAssignment, NETWORK_POSSIBLE_VALUES};
-use nao::Network;
-use repository::Repository;
+use argument_parsers::{
+    parse_network, NaoAddress, NaoAddressPlayerAssignment, NETWORK_POSSIBLE_VALUES,
+};
+use indicatif::ProgressBar;
+use log::warn;
+use nao::{Nao, Network, SystemctlAction};
+use repository::{
+    communication::configure_communication, configuration::read_os_version, location::set_location,
+    recording::configure_recording_intervals, upload::populate_upload_directory,
+};
+use tempfile::tempdir;
 
 use crate::{
+    cargo::{cargo, Arguments as CargoArguments},
     player_number::{player_number, Arguments as PlayerNumberArguments},
-    recording::{parse_key_value, recording, Arguments as RecordingArguments},
-    upload::{upload, Arguments as UploadArguments},
-    wireless::{wireless, Arguments as WirelessArguments},
+    progress_indicator::ProgressIndicator,
+    recording::parse_key_value,
 };
 
 #[derive(Args)]
 pub struct Arguments {
-    #[arg(long, default_value = "release")]
-    pub profile: String,
-    /// Do not update nor install SDK
-    #[arg(long)]
-    pub no_sdk_installation: bool,
+    #[command(flatten)]
+    pub cargo: CargoArguments,
     /// Do not build before uploading
     #[arg(long)]
     pub no_build: bool,
@@ -31,56 +41,61 @@ pub struct Arguments {
     /// Do not remove existing remote files during uploading
     #[arg(long)]
     pub no_clean: bool,
-    /// Enable communication
-    #[arg(long)]
-    pub with_communication: bool,
     /// Skip the OS version check
     #[arg(long)]
     pub skip_os_check: bool,
-    /// Prepare everything for the upload without performing the actual one
+    /// Enable communication, communication is disabled by default
     #[arg(long)]
-    pub prepare: bool,
+    pub with_communication: bool,
     /// Intervals between cycle recordings, e.g. Control=1,VisionTop=30 to record every cycle in Control
     /// and one out of every 30 in VisionTop. Set to 0 or don't specify to disable recording for a cycler.
-    #[arg(long, value_delimiter=',', value_parser = parse_key_value::<String, usize>, default_value = "Control=1,VisionTop=30,VisionBottom=30,SplNetwork=1")]
+    #[arg(
+        long,
+        value_delimiter=',',
+        value_parser = parse_key_value::<String, usize>,
+        default_value = "Control=1,VisionTop=30,VisionBottom=30,SplNetwork=1",
+    )]
     pub recording_intervals: Vec<(String, usize)>,
+    /// Prepare everything for the upload without performing the actual one
+    #[arg(long)]
+    pub prepare: bool,
     /// The location to use for parameters
     pub location: String,
-    /// The network to connect the wireless device to (None disconnects from anything)
+    /// The network to connect the wifi device to (None disconnects from anything)
     #[arg(
         value_parser = PossibleValuesParser::new(NETWORK_POSSIBLE_VALUES)
             .map(|s| parse_network(&s).unwrap()))
     ]
-    pub network: Network,
+    pub wifi: Network,
     /// The NAOs to upload to with player number assignments e.g. 20w:2 or 10.1.24.22:5 (player numbers start from 1)
     #[arg(required = true)]
     pub assignments: Vec<NaoAddressPlayerAssignment>,
-    /// Use a remote machine for compilation, see ./scripts/remote for details
-    #[arg(long)]
-    pub remote: bool,
 }
 
-pub async fn pre_game(arguments: Arguments, repository: &Repository) -> Result<()> {
+pub async fn pre_game(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
+    let repository_root = repository_root.as_ref();
+
     let naos: Vec<_> = arguments
         .assignments
         .iter()
         .map(|assignment| assignment.nao_address)
         .collect();
 
-    recording(
-        RecordingArguments {
-            recording_intervals: arguments.recording_intervals,
-        },
-        repository,
+    configure_recording_intervals(
+        HashMap::from_iter(arguments.recording_intervals.clone()),
+        repository_root,
     )
     .await
-    .wrap_err("failed to set cyclers to be recorded")?;
+    .wrap_err("failed to set recording settings")?;
 
-    repository
-        .set_location("nao", &arguments.location)
+    set_location("nao", &arguments.location, repository_root)
         .await
         .wrap_err_with(|| format!("failed setting location for nao to {}", arguments.location))?;
 
+    configure_communication(arguments.with_communication, repository_root)
+        .await
+        .wrap_err("failed to set communication")?;
+
     player_number(
         PlayerNumberArguments {
             assignments: arguments
@@ -91,41 +106,107 @@ pub async fn pre_game(arguments: Arguments, repository: &Repository) -> Result<(
                 .collect::<Result<Vec<_>, _>>()
                 .wrap_err("failed to convert NAO address assignments into NAO number assignments for player number setting")?
         },
-        repository
+        repository_root
     )
     .await
     .wrap_err("failed to set player numbers")?;
 
-    if !arguments.prepare {
-        wireless(WirelessArguments::Scan { naos: naos.clone() })
+    if !arguments.no_build {
+        cargo("build", arguments.cargo.clone(), repository_root)
             .await
-            .wrap_err("failed to scan for networks")?;
+            .wrap_err("failed to build the code")?;
+    }
 
-        wireless(WirelessArguments::Set {
-            network: arguments.network,
-            naos: naos.clone(),
-        })
-        .await
-        .wrap_err("failed to set wireless network")?;
+    if arguments.prepare {
+        warn!("Preparation complete, skipping the rest");
+        return Ok(());
     }
 
-    upload(
-        UploadArguments {
-            profile: arguments.profile,
-            no_sdk_installation: arguments.no_sdk_installation,
-            no_build: arguments.no_build,
-            no_restart: arguments.no_restart,
-            no_clean: arguments.no_clean,
-            no_communication: !arguments.with_communication,
-            prepare: arguments.prepare,
-            skip_os_check: arguments.skip_os_check,
-            naos,
-            remote: arguments.remote,
+    let upload_directory = tempdir().wrap_err("failed to get temporary directory")?;
+    populate_upload_directory(&upload_directory, &arguments.cargo.profile, repository_root)
+        .await
+        .wrap_err("failed to populate upload directory")?;
+
+    let arguments = &arguments;
+    let upload_directory = &upload_directory;
+
+    ProgressIndicator::map_tasks(
+        &naos,
+        "Executing pregame tasks",
+        |nao_address, progress_bar| async move {
+            setup_nao(
+                nao_address,
+                upload_directory,
+                arguments,
+                progress_bar,
+                repository_root,
+            )
+            .await
         },
-        repository,
     )
+    .await;
+
+    Ok(())
+}
+
+async fn setup_nao(
+    nao_address: &NaoAddress,
+    upload_directory: impl AsRef<Path>,
+    arguments: &Arguments,
+    progress: ProgressBar,
+    repository_root: &Path,
+) -> Result<()> {
+    progress.set_message("Pinging NAO...");
+    let nao = Nao::try_new_with_ping(nao_address.ip).await?;
+
+    if !arguments.skip_os_check {
+        progress.set_message("Checking OS version...");
+        let nao_os_version = nao
+            .get_os_version()
+            .await
+            .wrap_err_with(|| format!("failed to get OS version of {nao_address}"))?;
+        let expected_os_version = read_os_version(repository_root)
+            .await
+            .wrap_err("failed to get configured OS version")?;
+        if nao_os_version != expected_os_version {
+            bail!("mismatched OS versions: Expected {expected_os_version}, found {nao_os_version}");
+        }
+    }
+
+    progress.set_message("Stopping HULK...");
+    nao.execute_systemctl(SystemctlAction::Stop, "hulk")
+        .await
+        .wrap_err_with(|| format!("failed to stop HULK service on {nao_address}"))?;
+
+    progress.set_message("Uploading: ...");
+    nao.upload(upload_directory, "hulk", !arguments.no_clean, |status| {
+        progress.set_message(format!("Uploading: {}", status))
+    })
     .await
-    .wrap_err("failed to upload")?;
+    .wrap_err_with(|| format!("failed to upload binary to {nao_address}"))?;
+
+    if arguments.wifi != Network::None {
+        progress.set_message("Scanning for WiFi...");
+        nao.scan_networks()
+            .await
+            .wrap_err_with(|| format!("failed to scan for networks on {nao_address}"))?;
+    }
+
+    progress.set_message("Setting WiFi...");
+    nao.set_wifi(arguments.wifi)
+        .await
+        .wrap_err_with(|| format!("failed to set network on {nao_address}"))?;
+
+    if !arguments.no_restart {
+        progress.set_message("Restarting HULK...");
+        if let Err(error) = nao.execute_systemctl(SystemctlAction::Start, "hulk").await {
+            let logs = nao
+                .retrieve_logs()
+                .await
+                .wrap_err("failed to retrieve logs")?;
+            bail!("failed to restart hulk: {error:#?}\nLogs:\n{logs}")
+        };
+    }
 
     Ok(())
 }
diff --git a/tools/pepsi/src/recording.rs b/tools/pepsi/src/recording.rs
index d9467d1c1d..2e8cd9a0b1 100644
--- a/tools/pepsi/src/recording.rs
+++ b/tools/pepsi/src/recording.rs
@@ -1,9 +1,8 @@
-use std::{collections::HashMap, error::Error};
+use std::{collections::HashMap, error::Error, path::Path};
 
 use clap::Args;
 use color_eyre::{eyre::WrapErr, Result};
-
-use repository::Repository;
+use repository::recording::configure_recording_intervals;
 
 #[derive(Args)]
 pub struct Arguments {
@@ -13,11 +12,13 @@ pub struct Arguments {
     pub recording_intervals: Vec<(String, usize)>,
 }
 
-pub async fn recording(arguments: Arguments, repository: &Repository) -> Result<()> {
-    repository
-        .set_recording_intervals(HashMap::from_iter(arguments.recording_intervals))
-        .await
-        .wrap_err("failed to set recording enablement")
+pub async fn recording(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
+    configure_recording_intervals(
+        HashMap::from_iter(arguments.recording_intervals),
+        repository_root,
+    )
+    .await
+    .wrap_err("failed to set recording settings")
 }
 
 pub fn parse_key_value<T, U>(string: &str) -> Result<(T, U), Box<dyn Error + Send + Sync + 'static>>
diff --git a/tools/pepsi/src/sdk.rs b/tools/pepsi/src/sdk.rs
index eaf239fda0..6b624b43fa 100644
--- a/tools/pepsi/src/sdk.rs
+++ b/tools/pepsi/src/sdk.rs
@@ -1,41 +1,41 @@
-use std::path::PathBuf;
+use std::path::Path;
 
 use clap::Subcommand;
-use color_eyre::{eyre::WrapErr, Result};
+use color_eyre::{eyre::Context, Result};
 
-use constants::OS_IS_NOT_LINUX;
-use repository::Repository;
+use repository::{
+    configuration::read_sdk_version, data_home::get_data_home, sdk::download_and_install,
+};
 
 #[derive(Subcommand)]
 pub enum Arguments {
     Install {
-        /// Alternative SDK version e.g. 3.3
+        /// SDK version e.g. `3.3.1`. If not provided, version specified by `hulk.toml` is be used.
         #[arg(long)]
-        sdk_version: Option<String>,
-        /// Alternative SDK installation directory e.g. ~/.naosdk/
-        #[arg(long)]
-        installation_directory: Option<PathBuf>,
+        version: Option<String>,
     },
+    Path,
 }
 
-pub async fn sdk(arguments: Arguments, repository: &Repository) -> Result<()> {
+pub async fn sdk(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
     match arguments {
-        Arguments::Install {
-            sdk_version,
-            installation_directory,
-        } => {
-            let installation_directory = repository
-                .link_sdk_home(installation_directory.as_deref())
-                .await
-                .wrap_err("failed to link SDK home")?;
-
-            let use_docker = OS_IS_NOT_LINUX;
-            if !use_docker {
-                repository
-                    .install_sdk(sdk_version.as_deref(), installation_directory)
+        Arguments::Install { version } => {
+            let data_home = get_data_home()?;
+            let version = match version {
+                Some(version) => version,
+                None => read_sdk_version(repository_root)
                     .await
-                    .wrap_err("failed to install SDK")?;
-            }
+                    .wrap_err("failed to get OS version")?,
+            };
+            download_and_install(&version, data_home).await?;
+        }
+        Arguments::Path => {
+            let sdk_version = read_sdk_version(&repository_root)
+                .await
+                .wrap_err("failed to get HULK OS version")?;
+            let data_home = get_data_home().wrap_err("failed to get data home")?;
+            let path = &data_home.join(format!("sdk/{sdk_version}/"));
+            println!("{}", path.display());
         }
     }
 
diff --git a/tools/pepsi/src/upload.rs b/tools/pepsi/src/upload.rs
index 1156bcac3e..30f1095dae 100644
--- a/tools/pepsi/src/upload.rs
+++ b/tools/pepsi/src/upload.rs
@@ -6,25 +6,20 @@ use color_eyre::{
     eyre::{bail, WrapErr},
     Result,
 };
-use constants::OS_VERSION;
 use futures_util::{stream::FuturesUnordered, StreamExt};
 use nao::{Nao, SystemctlAction};
-use repository::Repository;
+use repository::{configuration::read_os_version, upload::populate_upload_directory};
+use tempfile::tempdir;
 
 use crate::{
-    cargo::{cargo, Arguments as CargoArguments, Command},
-    communication::communication,
-    communication::Arguments as CommunicationArguments,
+    cargo::{cargo, Arguments as CargoArguments},
     progress_indicator::{ProgressIndicator, Task},
 };
 
 #[derive(Args)]
 pub struct Arguments {
-    #[arg(long, default_value = "incremental")]
-    pub profile: String,
-    /// Do not update nor install SDK
-    #[arg(long)]
-    pub no_sdk_installation: bool,
+    #[command(flatten)]
+    pub cargo: CargoArguments,
     /// Do not build before uploading
     #[arg(long)]
     pub no_build: bool,
@@ -34,40 +29,35 @@ pub struct Arguments {
     /// Do not remove existing remote files during uploading
     #[arg(long)]
     pub no_clean: bool,
-    /// Do not enable communication
-    #[arg(long)]
-    pub no_communication: bool,
     /// Skip the OS version check
     #[arg(long)]
     pub skip_os_check: bool,
-    /// Prepare everything for the upload without performing the actual one
-    #[arg(long)]
-    pub prepare: bool,
     /// The NAOs to upload to e.g. 20w or 10.1.24.22
     #[arg(required = true)]
     pub naos: Vec<NaoAddress>,
-    /// Use a remote machine for compilation, see ./scripts/remote for details
-    #[arg(long)]
-    pub remote: bool,
 }
 
 async fn upload_with_progress(
     nao_address: &NaoAddress,
-    hulk_directory: impl AsRef<Path>,
+    upload_directory: impl AsRef<Path>,
     arguments: &Arguments,
     progress: &Task,
+    repository_root: impl AsRef<Path>,
 ) -> Result<()> {
     progress.set_message("Pinging NAO...");
     let nao = Nao::try_new_with_ping(nao_address.ip).await?;
 
     if !arguments.skip_os_check {
         progress.set_message("Checking OS version...");
-        let os_version = nao
+        let nao_os_version = nao
             .get_os_version()
             .await
             .wrap_err_with(|| format!("failed to get OS version of {nao_address}"))?;
-        if os_version != OS_VERSION {
-            bail!("mismatched OS versions: Expected {OS_VERSION}, found {os_version}");
+        let expected_os_version = read_os_version(repository_root)
+            .await
+            .wrap_err("failed to get configured OS version")?;
+        if nao_os_version != expected_os_version {
+            bail!("mismatched OS versions: Expected {expected_os_version}, found {nao_os_version}");
         }
     }
 
@@ -77,7 +67,7 @@ async fn upload_with_progress(
         .wrap_err_with(|| format!("failed to stop HULK service on {nao_address}"))?;
 
     progress.set_message("Uploading: ...");
-    nao.upload(hulk_directory, !arguments.no_clean, |status| {
+    nao.upload(upload_directory, "hulk", !arguments.no_clean, |status| {
         progress.set_message(format!("Uploading: {}", status))
     })
     .await
@@ -96,65 +86,46 @@ async fn upload_with_progress(
     Ok(())
 }
 
-pub async fn upload(arguments: Arguments, repository: &Repository) -> Result<()> {
+pub async fn upload(arguments: Arguments, repository_root: impl AsRef<Path>) -> Result<()> {
+    let repository_root = repository_root.as_ref();
+
     if !arguments.no_build {
-        cargo(
-            CargoArguments {
-                workspace: false,
-                profile: arguments.profile.clone(),
-                target: "nao".to_string(),
-                no_sdk_installation: arguments.no_sdk_installation,
-                features: None,
-                passthrough_arguments: Vec::new(),
-                remote: arguments.remote,
-            },
-            repository,
-            Command::Build,
-        )
-        .await
-        .wrap_err("failed to build the code")?;
+        cargo("build", arguments.cargo.clone(), repository_root)
+            .await
+            .wrap_err("failed to build the code")?;
     }
 
-    let (_temporary_directory, hulk_directory) = repository
-        .create_upload_directory(arguments.profile.as_str())
+    let upload_directory = tempdir().wrap_err("failed to get temporary directory")?;
+    populate_upload_directory(&upload_directory, &arguments.cargo.profile, repository_root)
         .await
-        .wrap_err("failed to create upload directory")?;
+        .wrap_err("failed to populate upload directory")?;
 
-    communication(
-        match arguments.no_communication {
-            true => CommunicationArguments::Disable,
-            false => CommunicationArguments::Enable,
-        },
-        repository,
-    )
-    .await
-    .wrap_err("failed to set communication")?;
+    let arguments = &arguments;
+    let upload_directory = &upload_directory;
 
     let multi_progress = ProgressIndicator::new();
-
-    if arguments.prepare {
-        eprintln!("WARNING: This upload was only prepared, no actual upload was performed!")
-    } else {
-        arguments
-            .naos
-            .iter()
-            .map(|nao_address| (nao_address, multi_progress.task(nao_address.to_string())))
-            .map(|(nao_address, progress)| {
-                let arguments = &arguments;
-                let hulk_directory = hulk_directory.clone();
-
-                progress.enable_steady_tick();
-                async move {
-                    progress.finish_with(
-                        upload_with_progress(nao_address, hulk_directory, arguments, &progress)
-                            .await,
+    arguments
+        .naos
+        .iter()
+        .map(|nao_address| {
+            let progress = multi_progress.task(nao_address.to_string());
+            progress.enable_steady_tick();
+            async move {
+                progress.finish_with(
+                    upload_with_progress(
+                        nao_address,
+                        upload_directory,
+                        arguments,
+                        &progress,
+                        repository_root,
                     )
-                }
-            })
-            .collect::<FuturesUnordered<_>>()
-            .collect::<Vec<_>>()
-            .await;
-    }
+                    .await,
+                )
+            }
+        })
+        .collect::<FuturesUnordered<_>>()
+        .collect::<Vec<_>>()
+        .await;
 
     Ok(())
 }
diff --git a/tools/pepsi/src/wireless.rs b/tools/pepsi/src/wifi.rs
similarity index 97%
rename from tools/pepsi/src/wireless.rs
rename to tools/pepsi/src/wifi.rs
index b5a82ca044..83a2b9f550 100644
--- a/tools/pepsi/src/wireless.rs
+++ b/tools/pepsi/src/wifi.rs
@@ -43,7 +43,7 @@ pub enum Arguments {
     },
 }
 
-pub async fn wireless(arguments: Arguments) -> Result<()> {
+pub async fn wifi(arguments: Arguments) -> Result<()> {
     match arguments {
         Arguments::Status { naos } => status(naos).await,
         Arguments::Scan { naos } => scan(naos).await,
@@ -102,7 +102,7 @@ async fn set(naos: Vec<NaoAddress>, network: Network) {
         "Setting network...",
         |nao_address, _progress_bar| async move {
             let nao = Nao::try_new_with_ping(nao_address.ip).await?;
-            nao.set_network(network)
+            nao.set_wifi(network)
                 .await
                 .wrap_err_with(|| format!("failed to set network on {nao_address}"))
         },
diff --git a/tools/twix/src/main.rs b/tools/twix/src/main.rs
index 0b2d92c187..6c01437a81 100644
--- a/tools/twix/src/main.rs
+++ b/tools/twix/src/main.rs
@@ -1,6 +1,8 @@
 use std::{
+    env::current_dir,
     fmt::{self, Display, Formatter},
     net::IpAddr,
+    path::PathBuf,
     str::FromStr,
     sync::Arc,
     time::{Duration, SystemTime},
@@ -10,7 +12,7 @@ use aliveness::query_aliveness;
 use argument_parsers::NaoAddress;
 use clap::Parser;
 use color_eyre::{
-    eyre::{bail, eyre},
+    eyre::{bail, eyre, Context as _, ContextCompat},
     Result,
 };
 
@@ -30,7 +32,7 @@ use eframe::{
 use egui_dock::{DockArea, DockState, Node, NodeIndex, Split, SurfaceIndex, TabAddAlign, TabIndex};
 use fern::{colors::ColoredLevelConfig, Dispatch, InitError};
 
-use log::error;
+use log::{error, warn};
 use nao::Nao;
 use panel::Panel;
 use panels::{
@@ -39,7 +41,7 @@ use panels::{
     RemotePanel, TextPanel, VisionTunerPanel,
 };
 
-use repository::{get_repository_root, Repository};
+use repository::{find_root::find_repository_root, inspect_version::check_for_update};
 use serde_json::{from_str, to_string, Value};
 use tokio::{
     runtime::{Builder, Runtime},
@@ -65,7 +67,9 @@ mod zoom_and_pan;
 struct Arguments {
     /// Nao address to connect to (overrides the address saved in the configuration file)
     pub address: Option<String>,
-
+    /// Alternative repository root
+    #[arg(long)]
+    repository_root: Option<PathBuf>,
     /// Delete the current panel setup
     #[arg(long)]
     pub clear: bool,
@@ -89,13 +93,28 @@ fn setup_logger() -> Result<(), InitError> {
 
 fn main() -> Result<(), eframe::Error> {
     setup_logger().unwrap();
-    let arguments = Arguments::parse();
 
-    let runtime = Runtime::new().unwrap();
-    if let Ok(repository_root) = runtime.block_on(get_repository_root()) {
-        Repository::new(repository_root)
-            .check_new_version_available(env!("CARGO_PKG_VERSION"), "tools/twix")
-            .unwrap();
+    let arguments = Arguments::parse();
+    let repository_root = arguments
+        .repository_root
+        .clone()
+        .map(Ok)
+        .unwrap_or_else(|| {
+            let current_directory = current_dir().wrap_err("failed to get current directory")?;
+            find_repository_root(current_directory).wrap_err("failed to find repository root")
+        });
+    match &repository_root {
+        Ok(repository_root) => {
+            if let Err(error) = check_for_update(
+                env!("CARGO_PKG_VERSION"),
+                repository_root.join("tools/pepsi/Cargo.toml"),
+            ) {
+                error!("{error:#?}");
+            }
+        }
+        Err(error) => {
+            warn!("{error:#?}");
+        }
     }
 
     let configuration = Configuration::load()
@@ -110,6 +129,7 @@ fn main() -> Result<(), eframe::Error> {
                 creation_context,
                 arguments,
                 configuration,
+                repository_root.ok(),
             )))
         }),
     )
@@ -189,6 +209,7 @@ impl TwixApp {
         creation_context: &CreationContext,
         arguments: Arguments,
         configuration: Configuration,
+        repository_root: Option<PathBuf>,
     ) -> Self {
         let address = arguments
             .address
@@ -200,7 +221,7 @@ impl TwixApp {
             .or_else(|| creation_context.storage?.get_string("address"))
             .unwrap_or_else(|| "localhost".to_string());
 
-        let nao = Arc::new(Nao::new(format!("ws://{address}:1337")));
+        let nao = Arc::new(Nao::new(format!("ws://{address}:1337"), repository_root));
 
         let connection_intent = creation_context
             .storage
diff --git a/tools/twix/src/nao.rs b/tools/twix/src/nao.rs
index 84eb7cb243..4df1fd3db8 100644
--- a/tools/twix/src/nao.rs
+++ b/tools/twix/src/nao.rs
@@ -12,9 +12,8 @@ use communication::{
     client::{Client, ClientHandle, PathsEvent, Status},
     messages::{Path, TextOrBinary},
 };
-use log::{error, warn};
+use log::error;
 use parameters::{directory::Scope, json::nest_value_at_path};
-use repository::{get_repository_root, Repository};
 use serde_json::Value;
 use tokio::{
     runtime::{Builder, Runtime},
@@ -30,28 +29,20 @@ use crate::{
 pub struct Nao {
     runtime: Runtime,
     client: ClientHandle,
-    repository: Option<Repository>,
+    repository_root: Option<PathBuf>,
 }
 
 impl Nao {
-    pub fn new(address: String) -> Self {
+    pub fn new(address: String, repository_root: Option<PathBuf>) -> Self {
         let runtime = Builder::new_multi_thread().enable_all().build().unwrap();
 
         let (client, handle) = Client::new(address);
         runtime.spawn(client.run());
 
-        let repository = match runtime.block_on(get_repository_root()) {
-            Ok(root) => Some(Repository::new(root)),
-            Err(error) => {
-                warn!("{error:#}");
-                None
-            }
-        };
-
         Self {
             runtime,
             client: handle,
-            repository,
+            repository_root,
         }
     }
 
@@ -190,13 +181,14 @@ impl Nao {
 
     pub fn store_parameters(&self, path: &str, value: Value, scope: Scope) -> Result<()> {
         let client = self.client.clone();
-        let root = self
-            .repository
+        let parameters_root = self
+            .repository_root
             .as_ref()
             .ok_or_eyre("repository not available, cannot store parameters")?
-            .parameters_root();
+            .join("etc/parameters/");
         self.runtime.block_on(async {
-            if let Err(error) = store_parameters(&client, path, value, scope, root).await {
+            if let Err(error) = store_parameters(&client, path, value, scope, parameters_root).await
+            {
                 error!("{error:#}")
             }
         });
@@ -209,12 +201,12 @@ async fn store_parameters(
     path: &str,
     value: Value,
     scope: Scope,
-    root: PathBuf,
+    parameters_root: impl AsRef<std::path::Path>,
 ) -> Result<()> {
     let (_, bytes) = client.read_binary("hardware_ids").await?;
     let ids: Ids = bincode::deserialize(&bytes).wrap_err("bincode deserialization failed")?;
     let parameters = nest_value_at_path(path, value);
-    parameters::directory::serialize(&parameters, scope, path, root, &ids)
+    parameters::directory::serialize(&parameters, scope, path, parameters_root, &ids)
         .wrap_err("serialization failed")?;
     Ok(())
 }