diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..bcadb5e
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,4 @@
+language: node_js
+node_js:
+  - '8'
+script: npm run ci
diff --git a/README.md b/README.md
index 90baecc..c512395 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # makerfaire-tokyo-2018
 
+[![Build Status](https://travis-ci.org/kabuku/makerfaire-tokyo-2018.svg?branch=master)](https://travis-ci.org/kabuku/makerfaire-tokyo-2018)
+
 ## Prerequisite
 
 - Node >= 8.0.0
@@ -17,4 +19,7 @@ $ npm ci
 ```sh
 $ npm run mqtt # run MQTT server on Docker
 $ npm run web # run Web server
+
+# If you want to subscribe to a topic ('nobunaga/left', for example)
+$ npx mqtt sub -t 'nobunaga/left' -h 'localhost'
 ```
diff --git a/package-lock.json b/package-lock.json
index 7fd3e9a..118f9a2 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -58,6 +58,15 @@
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       "integrity": "sha1-p3c2C1s5oaLlEG+OhY8v0tBgxXA="
     },
+    "@samverschueren/stream-to-observable": {
+      "version": "0.3.0",
+      "resolved": "https://registry.npmjs.org/@samverschueren/stream-to-observable/-/stream-to-observable-0.3.0.tgz",
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+      "dev": true,
+      "requires": {
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+      }
+    },
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       "resolved": "https://registry.npmjs.org/@tensorflow/tfjs/-/tfjs-0.11.6.tgz",
@@ -128,6 +137,12 @@
       "integrity": "sha1-l6ERlkmyEa0zaR2fn0hqjsn74KM=",
       "dev": true
     },
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+      "version": "1.4.0",
+      "resolved": "https://registry.npmjs.org/ansi-escapes/-/ansi-escapes-1.4.0.tgz",
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+    },
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@@ -149,6 +164,12 @@
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       }
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+      "resolved": "https://registry.npmjs.org/any-observable/-/any-observable-0.3.0.tgz",
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+    },
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@@ -159,6 +180,12 @@
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       }
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+    "app-root-path": {
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+      "resolved": "https://registry.npmjs.org/app-root-path/-/app-root-path-2.0.1.tgz",
+      "integrity": "sha1-zWLc+OT9WkF+/GZNLlsQZTxlG0Y=",
+      "dev": true
+    },
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@@ -1316,6 +1343,12 @@
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       "dev": true
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+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/builtin-modules/-/builtin-modules-1.1.1.tgz",
+      "integrity": "sha1-Jw8HbFpywC9bZaR9+Uxf46J4iS8=",
+      "dev": true
+    },
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@@ -1446,6 +1479,12 @@
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+      "resolved": "https://registry.npmjs.org/ci-info/-/ci-info-1.1.3.tgz",
+      "integrity": "sha512-SK/846h/Rcy8q9Z9CAwGBLfCJ6EkjJWdpelWDufQpqVDYq2Wnnv8zlSO6AMQap02jvhVruKKpEtQOufo3pFhLg==",
+      "dev": true
+    },
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@@ -1512,6 +1551,31 @@
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+      "integrity": "sha1-ZNo/fValRBLll5S9Ytw1KV6PKYc=",
+      "dev": true,
+      "requires": {
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+    "cli-spinners": {
+      "version": "0.1.2",
+      "resolved": "https://registry.npmjs.org/cli-spinners/-/cli-spinners-0.1.2.tgz",
+      "integrity": "sha1-u3ZNiOGF+54eaiofGXcjGPYF4xw=",
+      "dev": true
+    },
+    "cli-truncate": {
+      "version": "0.2.1",
+      "resolved": "https://registry.npmjs.org/cli-truncate/-/cli-truncate-0.2.1.tgz",
+      "integrity": "sha1-nxXPuwcFAFNpIWxiasfQWrkN1XQ=",
+      "dev": true,
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@@ -1533,6 +1597,12 @@
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+      "integrity": "sha1-DQcLTQQ6W+ozovGkDi7bPZpMz3c=",
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       "integrity": "sha1-tf1UIgqivFq1eqtxQMlAdUUDwac="
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+    "cosmiconfig": {
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+      "resolved": "https://registry.npmjs.org/cosmiconfig/-/cosmiconfig-5.0.5.tgz",
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+      "dev": true,
+      "requires": {
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+        "js-yaml": "^3.9.0",
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@@ -1952,6 +2033,12 @@
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+      "dev": true
+    },
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@@ -1989,6 +2076,12 @@
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       "dev": true
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+      "version": "0.7.0",
+      "resolved": "https://registry.npmjs.org/dedent/-/dedent-0.7.0.tgz",
+      "integrity": "sha1-JJXduvbrh0q7Dhvp3yLS5aVEMmw=",
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@@ -2083,6 +2176,12 @@
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@@ -2094,6 +2193,30 @@
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+      "resolved": "https://registry.npmjs.org/doctrine/-/doctrine-0.7.2.tgz",
+      "integrity": "sha1-fLhgNZujvpDgQLJrcpzkv6ZUxSM=",
+      "dev": true,
+      "requires": {
+        "esutils": "^1.1.6",
+        "isarray": "0.0.1"
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+          "resolved": "https://registry.npmjs.org/esutils/-/esutils-1.1.6.tgz",
+          "integrity": "sha1-wBzKqa5LiXxtDD4hCuUvPHqEQ3U=",
+          "dev": true
+        },
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+          "dev": true
+        }
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+      "resolved": "https://registry.npmjs.org/elegant-spinner/-/elegant-spinner-1.0.1.tgz",
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@@ -2229,6 +2358,15 @@
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       "dev": true
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@@ -2286,6 +2424,16 @@
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@@ -2326,6 +2474,50 @@
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@@ -2472,12 +2664,28 @@
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@@ -2507,6 +2715,12 @@
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@@ -4275,6 +4949,12 @@
         "wrappy": "1"
       }
     },
+    "onetime": {
+      "version": "1.1.0",
+      "resolved": "http://registry.npmjs.org/onetime/-/onetime-1.1.0.tgz",
+      "integrity": "sha1-ofeDj4MUxRbwXs78vEzP4EtO14k=",
+      "dev": true
+    },
     "opn": {
       "version": "5.3.0",
       "resolved": "https://registry.npmjs.org/opn/-/opn-5.3.0.tgz",
@@ -4298,6 +4978,42 @@
         "wordwrap": "~1.0.0"
       }
     },
+    "ora": {
+      "version": "0.2.3",
+      "resolved": "https://registry.npmjs.org/ora/-/ora-0.2.3.tgz",
+      "integrity": "sha1-N1J9Igrc1Tw5tzVx11QVbV22V6Q=",
+      "dev": true,
+      "requires": {
+        "chalk": "^1.1.1",
+        "cli-cursor": "^1.0.2",
+        "cli-spinners": "^0.1.2",
+        "object-assign": "^4.0.1"
+      },
+      "dependencies": {
+        "chalk": {
+          "version": "1.1.3",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-1.1.3.tgz",
+          "integrity": "sha1-qBFcVeSnAv5NFQq9OHKCKn4J/Jg=",
+          "dev": true,
+          "requires": {
+            "ansi-styles": "^2.2.1",
+            "escape-string-regexp": "^1.0.2",
+            "has-ansi": "^2.0.0",
+            "strip-ansi": "^3.0.0",
+            "supports-color": "^2.0.0"
+          }
+        },
+        "strip-ansi": {
+          "version": "3.0.1",
+          "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz",
+          "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=",
+          "dev": true,
+          "requires": {
+            "ansi-regex": "^2.0.0"
+          }
+        }
+      }
+    },
     "ordered-read-streams": {
       "version": "1.0.1",
       "resolved": "https://registry.npmjs.org/ordered-read-streams/-/ordered-read-streams-1.0.1.tgz",
@@ -4324,6 +5040,18 @@
       "integrity": "sha1-u+Z0BseaqFxc/sdm/lc0VV36EnQ=",
       "dev": true
     },
+    "p-finally": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/p-finally/-/p-finally-1.0.0.tgz",
+      "integrity": "sha1-P7z7FbiZpEEjs0ttzBi3JDNqLK4=",
+      "dev": true
+    },
+    "p-map": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/p-map/-/p-map-1.2.0.tgz",
+      "integrity": "sha512-r6zKACMNhjPJMTl8KcFH4li//gkrXWfbD6feV8l6doRHlzljFWGJ2AP6iKaCJXyZmAUMOPtvbW7EXkbWO/pLEA==",
+      "dev": true
+    },
     "pako": {
       "version": "0.2.9",
       "resolved": "https://registry.npmjs.org/pako/-/pako-0.2.9.tgz",
@@ -4414,6 +5142,16 @@
         "pbkdf2": "^3.0.3"
       }
     },
+    "parse-json": {
+      "version": "4.0.0",
+      "resolved": "https://registry.npmjs.org/parse-json/-/parse-json-4.0.0.tgz",
+      "integrity": "sha1-vjX1Qlvh9/bHRxhPmKeIy5lHfuA=",
+      "dev": true,
+      "requires": {
+        "error-ex": "^1.3.1",
+        "json-parse-better-errors": "^1.0.1"
+      }
+    },
     "parseurl": {
       "version": "1.3.2",
       "resolved": "https://registry.npmjs.org/parseurl/-/parseurl-1.3.2.tgz",
@@ -4442,6 +5180,12 @@
       "resolved": "https://registry.npmjs.org/path-is-absolute/-/path-is-absolute-1.0.1.tgz",
       "integrity": "sha1-F0uSaHNVNP+8es5r9TpanhtcX18="
     },
+    "path-is-inside": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/path-is-inside/-/path-is-inside-1.0.2.tgz",
+      "integrity": "sha1-NlQX3t5EQw0cEa9hAn+s8HS9/FM=",
+      "dev": true
+    },
     "path-key": {
       "version": "2.0.1",
       "resolved": "https://registry.npmjs.org/path-key/-/path-key-2.0.1.tgz",
@@ -4473,6 +5217,21 @@
       "integrity": "sha1-GN4vl+S/epVRrXURlCtUlverpmA=",
       "dev": true
     },
+    "pify": {
+      "version": "3.0.0",
+      "resolved": "https://registry.npmjs.org/pify/-/pify-3.0.0.tgz",
+      "integrity": "sha1-5aSs0sEB/fPZpNB/DbxNtJ3SgXY=",
+      "dev": true
+    },
+    "please-upgrade-node": {
+      "version": "3.0.2",
+      "resolved": "https://registry.npmjs.org/please-upgrade-node/-/please-upgrade-node-3.0.2.tgz",
+      "integrity": "sha512-bslfSeW+ksUbB/sYZeEdKFyTG4YWU9YKRvqfSRvZKE675khAuBUPqV5RUwJZaGuWmVQLweK45Q+lPHFVnSlSug==",
+      "dev": true,
+      "requires": {
+        "semver-compare": "^1.0.0"
+      }
+    },
     "posix-character-classes": {
       "version": "0.1.1",
       "resolved": "https://registry.npmjs.org/posix-character-classes/-/posix-character-classes-0.1.1.tgz",
@@ -6480,6 +7239,39 @@
       "integrity": "sha1-1PRWKwzjaW5BrFLQ4ALlemNdxtw=",
       "dev": true
     },
+    "prettier": {
+      "version": "1.13.5",
+      "resolved": "https://registry.npmjs.org/prettier/-/prettier-1.13.5.tgz",
+      "integrity": "sha512-4M90mfvLz6yRf2Dhzd+xPIE6b4xkI8nHMJhsSm9IlfG17g6wujrrm7+H1X8x52tC4cSNm6HmuhCUSNe6Hd5wfw==",
+      "dev": true
+    },
+    "pretty-format": {
+      "version": "23.0.1",
+      "resolved": "https://registry.npmjs.org/pretty-format/-/pretty-format-23.0.1.tgz",
+      "integrity": "sha1-1h0GUmjkx1kIO8y8onoBrXx2AfQ=",
+      "dev": true,
+      "requires": {
+        "ansi-regex": "^3.0.0",
+        "ansi-styles": "^3.2.0"
+      },
+      "dependencies": {
+        "ansi-regex": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-3.0.0.tgz",
+          "integrity": "sha1-7QMXwyIGT3lGbAKWa922Bas32Zg=",
+          "dev": true
+        },
+        "ansi-styles": {
+          "version": "3.2.1",
+          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-3.2.1.tgz",
+          "integrity": "sha512-VT0ZI6kZRdTh8YyJw3SMbYm/u+NqfsAxEpWO0Pf9sq8/e94WxxOpPKx9FR1FlyCtOVDNOQ+8ntlqFxiRc+r5qA==",
+          "dev": true,
+          "requires": {
+            "color-convert": "^1.9.0"
+          }
+        }
+      }
+    },
     "private": {
       "version": "0.1.8",
       "resolved": "https://registry.npmjs.org/private/-/private-0.1.8.tgz",
@@ -6816,6 +7608,16 @@
       "integrity": "sha1-LGN/53yJOv0qZj/iGqkIAGjiBSo=",
       "dev": true
     },
+    "restore-cursor": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/restore-cursor/-/restore-cursor-1.0.1.tgz",
+      "integrity": "sha1-NGYfRohjJ/7SmRR5FSJS35LapUE=",
+      "dev": true,
+      "requires": {
+        "exit-hook": "^1.0.0",
+        "onetime": "^1.0.0"
+      }
+    },
     "ret": {
       "version": "0.1.15",
       "resolved": "https://registry.npmjs.org/ret/-/ret-0.1.15.tgz",
@@ -6880,6 +7682,12 @@
       "integrity": "sha512-4SJ3dm0WAwWy/NVeioZh5AntkdJoWKxHxcmyP622fOkgHa4z3R0TdBJICINyaSDE6uNwVc8gZr+ZinwZAH4xIA==",
       "dev": true
     },
+    "semver-compare": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/semver-compare/-/semver-compare-1.0.0.tgz",
+      "integrity": "sha1-De4hahyUGrN+nvsXiPavxf9VN/w=",
+      "dev": true
+    },
     "send": {
       "version": "0.16.2",
       "resolved": "https://registry.npmjs.org/send/-/send-0.16.2.tgz",
@@ -7001,12 +7809,24 @@
       "integrity": "sha1-P/IfGYytIXX587eBhT/ZTQ0ZtZA=",
       "dev": true
     },
+    "signal-exit": {
+      "version": "3.0.2",
+      "resolved": "https://registry.npmjs.org/signal-exit/-/signal-exit-3.0.2.tgz",
+      "integrity": "sha1-tf3AjxKH6hF4Yo5BXiUTK3NkbG0=",
+      "dev": true
+    },
     "slash": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/slash/-/slash-1.0.0.tgz",
       "integrity": "sha1-xB8vbDn8FtHNF61LXYlhFK5HDVU=",
       "dev": true
     },
+    "slice-ansi": {
+      "version": "0.0.4",
+      "resolved": "https://registry.npmjs.org/slice-ansi/-/slice-ansi-0.0.4.tgz",
+      "integrity": "sha1-7b+JA/ZvfOL46v1s7tZeJkyDGzU=",
+      "dev": true
+    },
     "snapdragon": {
       "version": "0.8.2",
       "resolved": "https://registry.npmjs.org/snapdragon/-/snapdragon-0.8.2.tgz",
@@ -7200,6 +8020,12 @@
       "integrity": "sha512-ji9qxRnOVfcuLDySj9qzhGSEFVobyt1kIOSkj1qZzYLzq7Tos/oUUWvotUPQLlrsidqsK6tBH89Bc9kL5zHA6w==",
       "dev": true
     },
+    "staged-git-files": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/staged-git-files/-/staged-git-files-1.1.1.tgz",
+      "integrity": "sha512-H89UNKr1rQJvI1c/PIR3kiAMBV23yvR7LItZiV74HWZwzt7f3YHuujJ9nJZlt58WlFox7XQsOahexwk7nTe69A==",
+      "dev": true
+    },
     "static-eval": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/static-eval/-/static-eval-2.0.0.tgz",
@@ -7292,6 +8118,34 @@
       "integrity": "sha1-J5siXfHVgrH1TmWt3UNS4Y+qBxM=",
       "dev": true
     },
+    "string-argv": {
+      "version": "0.0.2",
+      "resolved": "https://registry.npmjs.org/string-argv/-/string-argv-0.0.2.tgz",
+      "integrity": "sha1-2sMECGkMIfPDYwo/86BYd73L1zY=",
+      "dev": true
+    },
+    "string-width": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/string-width/-/string-width-1.0.2.tgz",
+      "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=",
+      "dev": true,
+      "requires": {
+        "code-point-at": "^1.0.0",
+        "is-fullwidth-code-point": "^1.0.0",
+        "strip-ansi": "^3.0.0"
+      },
+      "dependencies": {
+        "strip-ansi": {
+          "version": "3.0.1",
+          "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz",
+          "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=",
+          "dev": true,
+          "requires": {
+            "ansi-regex": "^2.0.0"
+          }
+        }
+      }
+    },
     "string_decoder": {
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/string_decoder/-/string_decoder-1.1.1.tgz",
@@ -7300,6 +8154,17 @@
         "safe-buffer": "~5.1.0"
       }
     },
+    "stringify-object": {
+      "version": "3.2.2",
+      "resolved": "https://registry.npmjs.org/stringify-object/-/stringify-object-3.2.2.tgz",
+      "integrity": "sha512-O696NF21oLiDy8PhpWu8AEqoZHw++QW6mUv0UvKZe8gWSdSvMXkiLufK7OmnP27Dro4GU5kb9U7JIO0mBuCRQg==",
+      "dev": true,
+      "requires": {
+        "get-own-enumerable-property-symbols": "^2.0.1",
+        "is-obj": "^1.0.1",
+        "is-regexp": "^1.0.0"
+      }
+    },
     "strip-ansi": {
       "version": "4.0.0",
       "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-4.0.0.tgz",
@@ -7317,6 +8182,18 @@
         }
       }
     },
+    "strip-eof": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/strip-eof/-/strip-eof-1.0.0.tgz",
+      "integrity": "sha1-u0P/VZim6wXYm1n80SnJgzE2Br8=",
+      "dev": true
+    },
+    "strip-indent": {
+      "version": "2.0.0",
+      "resolved": "https://registry.npmjs.org/strip-indent/-/strip-indent-2.0.0.tgz",
+      "integrity": "sha1-XvjbKV0B5u1sv3qrlpmNeCJSe2g=",
+      "dev": true
+    },
     "supports-color": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-2.0.0.tgz",
@@ -7350,6 +8227,12 @@
         }
       }
     },
+    "symbol-observable": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/symbol-observable/-/symbol-observable-1.2.0.tgz",
+      "integrity": "sha512-e900nM8RRtGhlV36KGEU9k65K3mPb1WV70OdjfxlG2EAuM1noi/E/BaW/uMhL7bPEssK8QV57vN3esixjUvcXQ==",
+      "dev": true
+    },
     "terser": {
       "version": "3.7.6",
       "resolved": "https://registry.npmjs.org/terser/-/terser-3.7.6.tgz",
@@ -7487,6 +8370,79 @@
       "resolved": "https://registry.npmjs.org/tslib/-/tslib-1.9.2.tgz",
       "integrity": "sha512-AVP5Xol3WivEr7hnssHDsaM+lVrVXWUvd1cfXTRkTj80b//6g2wIFEH6hZG0muGZRnHGrfttpdzRk3YlBkWjKw=="
     },
+    "tslint": {
+      "version": "5.10.0",
+      "resolved": "https://registry.npmjs.org/tslint/-/tslint-5.10.0.tgz",
+      "integrity": "sha1-EeJrzLiK+gLdDZlWyuPUVAtfVMM=",
+      "dev": true,
+      "requires": {
+        "babel-code-frame": "^6.22.0",
+        "builtin-modules": "^1.1.1",
+        "chalk": "^2.3.0",
+        "commander": "^2.12.1",
+        "diff": "^3.2.0",
+        "glob": "^7.1.1",
+        "js-yaml": "^3.7.0",
+        "minimatch": "^3.0.4",
+        "resolve": "^1.3.2",
+        "semver": "^5.3.0",
+        "tslib": "^1.8.0",
+        "tsutils": "^2.12.1"
+      }
+    },
+    "tslint-config-prettier": {
+      "version": "1.13.0",
+      "resolved": "https://registry.npmjs.org/tslint-config-prettier/-/tslint-config-prettier-1.13.0.tgz",
+      "integrity": "sha512-assE77K7K8Q9j8CVIHiU3d1uoKc8N5v7UPpkQ9IE8BEPWkvSYR37lDuYekDlAMFqR1IpD6CrS+uOJLl6pw7Wdw==",
+      "dev": true
+    },
+    "tslint-config-standard": {
+      "version": "7.0.0",
+      "resolved": "https://registry.npmjs.org/tslint-config-standard/-/tslint-config-standard-7.0.0.tgz",
+      "integrity": "sha512-QCrLt8WwiRgZpRSgRsk6cExy8/Vipa/5fHespm4Q1ly90EB6Lni04Ub8dkEW10bV3fPN3SkxEwj41ZOe/knCZA==",
+      "dev": true,
+      "requires": {
+        "tslint-eslint-rules": "^4.1.1"
+      }
+    },
+    "tslint-eslint-rules": {
+      "version": "4.1.1",
+      "resolved": "https://registry.npmjs.org/tslint-eslint-rules/-/tslint-eslint-rules-4.1.1.tgz",
+      "integrity": "sha1-fDDniC8mvCdr/5HSOEl1xp2viLo=",
+      "dev": true,
+      "requires": {
+        "doctrine": "^0.7.2",
+        "tslib": "^1.0.0",
+        "tsutils": "^1.4.0"
+      },
+      "dependencies": {
+        "tsutils": {
+          "version": "1.9.1",
+          "resolved": "https://registry.npmjs.org/tsutils/-/tsutils-1.9.1.tgz",
+          "integrity": "sha1-ufmrROVa+WgYMdXyjQrur1x1DLA=",
+          "dev": true
+        }
+      }
+    },
+    "tslint-plugin-prettier": {
+      "version": "1.3.0",
+      "resolved": "https://registry.npmjs.org/tslint-plugin-prettier/-/tslint-plugin-prettier-1.3.0.tgz",
+      "integrity": "sha512-6UqeeV6EABp0RdQkW6eC1vwnAXcKMGJgPeJ5soXiKdSm2vv7c3dp+835CM8pjgx9l4uSa7tICm1Kli+SMsADDg==",
+      "dev": true,
+      "requires": {
+        "eslint-plugin-prettier": "^2.2.0",
+        "tslib": "^1.7.1"
+      }
+    },
+    "tsutils": {
+      "version": "2.27.1",
+      "resolved": "https://registry.npmjs.org/tsutils/-/tsutils-2.27.1.tgz",
+      "integrity": "sha512-AE/7uzp32MmaHvNNFES85hhUDHFdFZp6OAiZcd6y4ZKKIg6orJTm8keYWBhIhrJQH3a4LzNKat7ZPXZt5aTf6w==",
+      "dev": true,
+      "requires": {
+        "tslib": "^1.8.1"
+      }
+    },
     "tty-browserify": {
       "version": "0.0.0",
       "resolved": "https://registry.npmjs.org/tty-browserify/-/tty-browserify-0.0.0.tgz",
@@ -7794,6 +8750,12 @@
       "version": "4.0.1",
       "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.1.tgz",
       "integrity": "sha1-pcbVMr5lbiPbgg77lDofBJmNY68="
+    },
+    "yallist": {
+      "version": "2.1.2",
+      "resolved": "https://registry.npmjs.org/yallist/-/yallist-2.1.2.tgz",
+      "integrity": "sha1-HBH5IY8HYImkfdUS+TxmmaaoHVI=",
+      "dev": true
     }
   }
 }
diff --git a/package.json b/package.json
index 0365ad8..f36caff 100644
--- a/package.json
+++ b/package.json
@@ -7,7 +7,9 @@
   },
   "scripts": {
     "mqtt": "docker run -it -p 1883:1883 -p 9001:9001 -v $(pwd)/mqtt/mosquitto:/mosquitto eclipse-mosquitto:1.4.12",
-    "web": "parcel web/index.html"
+    "web": "parcel web/index.html",
+    "precommit": "lint-staged",
+    "ci": "tsc && tslint \"web/**/*.ts\" -p tsconfig.json"
   },
   "license": "UNLICENSED",
   "dependencies": {
@@ -18,7 +20,20 @@
   },
   "devDependencies": {
     "@types/mqtt": "^2.5.0",
+    "husky": "^0.14.3",
+    "lint-staged": "^7.2.0",
     "parcel-bundler": "^1.9.1",
+    "prettier": "^1.13.5",
+    "tslint": "^5.10.0",
+    "tslint-config-prettier": "^1.13.0",
+    "tslint-config-standard": "^7.0.0",
+    "tslint-plugin-prettier": "^1.3.0",
     "typescript": "^2.9.2"
+  },
+  "lint-staged": {
+    "web/**/*.ts": [
+      "tslint --fix -p tsconfig.json",
+      "git add"
+    ]
   }
 }
diff --git a/tsconfig.json b/tsconfig.json
index 88cd37a..b609c9d 100644
--- a/tsconfig.json
+++ b/tsconfig.json
@@ -12,6 +12,8 @@
     ],
     "strict": true,
     "skipLibCheck": true,
+    "noUnusedLocals": true,
+    "noUnusedParameters": true,
     "suppressImplicitAnyIndexErrors": true
   },
   "exclude": [
diff --git a/tslint.json b/tslint.json
new file mode 100644
index 0000000..f528a49
--- /dev/null
+++ b/tslint.json
@@ -0,0 +1,19 @@
+{
+  "rulesDirectory": [
+    "tslint-plugin-prettier"
+  ],
+  "extends": [
+    "tslint-config-standard",
+    "tslint-config-prettier"
+  ],
+  "rules": {
+    "prettier": [
+      true,
+      {
+        "singleQuote": true
+      }
+    ],
+    // https://github.com/palantir/tslint/issues/2736
+    "no-unused-variable": false
+  }
+}
diff --git a/web/index.html b/web/index.html
index c0cf179..4d92b98 100644
--- a/web/index.html
+++ b/web/index.html
@@ -6,12 +6,16 @@
   <title>Kabuku @Maker Faire Tokyo 2018</title>
 
   <style>
-    #no-webcam {
-      display: none;
+    #target-selector a {
       text-align: center;
-      font-size: 30px;
-      padding: 30px;
-      line-height: 30px;
+      border-radius: 8px;
+      padding: 4px;
+      background-color: #d3d3d3;
+    }
+
+    #target-selector a.active {
+      color: #fff;
+      background-color: #008800;
     }
 
     #webcam {
@@ -38,10 +42,10 @@
 
 <body>
 
-  <div id="no-webcam">
-    No webcam is available.
+  <div id="target-selector">
+    <a href="#nobunaga/left">ノブナガ-左</a>
+    <a href="#nobunaga/right">ノブナガ-右</a>
   </div>
-
   <div class="webcam-box">
     <video autoplay playsinline muted id="webcam" width="224" height="224"></video>
   </div>
diff --git a/web/index.ts b/web/index.ts
index 80c3544..af9b6c5 100644
--- a/web/index.ts
+++ b/web/index.ts
@@ -1,7 +1,15 @@
 import * as tf from '@tensorflow/tfjs';
 import { from, fromEvent, interval, merge, BehaviorSubject } from 'rxjs';
-import { flatMap, switchMap, takeUntil, mapTo, map, distinctUntilChanged } from 'rxjs/operators';
-import { Robot, RobotController, Wheel } from './robot';
+import {
+  flatMap,
+  switchMap,
+  takeUntil,
+  mapTo,
+  map,
+  distinctUntilChanged
+} from 'rxjs/operators';
+import { RobotController } from './robot';
+import { createTopic$ } from './topic';
 
 const enum Command {
   Backward = 0,
@@ -11,7 +19,8 @@ const enum Command {
 
 const commandCount = 3;
 
-const MODEL_URL = 'https://storage.googleapis.com/tfjs-models/tfjs/mobilenet_v1_0.25_224/model.json';
+const MODEL_URL =
+  'https://storage.googleapis.com/tfjs-models/tfjs/mobilenet_v1_0.25_224/model.json';
 
 const loadMobilenet = async (url: string): Promise<tf.Model> => {
   const mn = await tf.loadModel(url);
@@ -35,23 +44,19 @@ const setupWebcamera = async (webcam: HTMLVideoElement) => {
   });
 
   try {
-    const stream = await navigator
-      .mediaDevices
-      .getUserMedia({ video: true, audio: false });
+    const stream = await navigator.mediaDevices.getUserMedia({
+      video: true,
+      audio: false
+    });
     webcam.srcObject = stream;
-
   } catch (err) {
     console.error(err);
   }
 };
 
-const createPressStream = (el: Element) => fromEvent(el, 'mousedown')
-  .pipe(
-    switchMap(_ =>
-      interval(10).pipe(
-        takeUntil(fromEvent(window, 'mouseup'))
-      )
-    )
+const createPressStream = (el: Element) =>
+  fromEvent(el, 'mousedown').pipe(
+    switchMap(_ => interval(10).pipe(takeUntil(fromEvent(window, 'mouseup'))))
   );
 
 /**
@@ -65,18 +70,22 @@ const cropImage = (image: tf.Tensor): tf.Tensor => {
   return image.slice(start, end);
 };
 
-const capture = (webcam: HTMLVideoElement): tf.Tensor => tf.tidy(() => {
-  const webcamImage = tf.fromPixels(webcam);
-  const cropped = cropImage(webcamImage);
-  const expanded = cropped.expandDims();
-  return expanded.toFloat().div(tf.scalar(127)).sub(tf.scalar(1));
-});
+const capture = (webcam: HTMLVideoElement): tf.Tensor =>
+  tf.tidy(() => {
+    const webcamImage = tf.fromPixels(webcam);
+    const cropped = cropImage(webcamImage);
+    const expanded = cropped.expandDims();
+    return expanded
+      .toFloat()
+      .div(tf.scalar(127))
+      .sub(tf.scalar(1));
+  });
 
 let robotController: RobotController;
 let model: tf.Model;
 let mobilenet: tf.Model;
 let webcamera: HTMLVideoElement;
-const examples: { xs: any | null, ys: any | null } = {
+const examples: { xs: any | null; ys: any | null } = {
   xs: null,
   ys: null
 };
@@ -122,8 +131,7 @@ const addExample = (label: Command, example: any) => {
   }
 };
 
-const startTraining = () => {
-
+const startTraining = async () => {
   if (examples.xs === null) {
     throw new Error('Add some examples before training!');
   }
@@ -157,7 +165,7 @@ const startTraining = () => {
     throw new Error('Batch size is 0 or NaN.');
   }
 
-  model.fit(examples.xs, examples.ys, {
+  await model.fit(examples.xs, examples.ys, {
     batchSize,
     epochs: EPOCHS,
     callbacks: {
@@ -167,7 +175,7 @@ const startTraining = () => {
         }
         await tf.nextFrame();
       },
-      onTrainEnd: async (_logs) => {
+      onTrainEnd: async _logs => {
         const result = modelStatusSubject.value;
         modelStatusSubject.next(`Done. (${result})`);
       }
@@ -179,7 +187,7 @@ const predict = async () => {
   const predicted = tf.tidy(() => {
     const img = capture(webcamera);
     const activation = mobilenet.predict(img);
-    const predictions = model.predict(activation) as tf.Tensor<tf.Rank>;
+    const predictions = model.predict(activation) as tf.Tensor;
     return predictions.as1D().argMax();
   });
 
@@ -188,13 +196,13 @@ const predict = async () => {
   return classid;
 };
 
-const setupUI = () => {
+const setupUI = async () => {
   webcamera = document.querySelector('#webcam') as HTMLVideoElement;
-  setupWebcamera(webcamera);
+  await setupWebcamera(webcamera);
 
   // workaround
   const image = capture(webcamera);
-  const _ = mobilenet.predict(image);
+  mobilenet.predict(image);
 
   const neutralButton = document.querySelector('.neutral');
   const forwardButton = document.querySelector('.forward');
@@ -211,9 +219,15 @@ const setupUI = () => {
   const modelStatus = document.querySelector('.model-status');
   const predictedResult = document.querySelector('.predicted');
 
-  const neutralPress$ = createPressStream(neutralButton!).pipe(mapTo(Command.Neutral));
-  const forwardPress$ = createPressStream(forwardButton!).pipe(mapTo(Command.Forward));
-  const backPress$ = createPressStream(backwardButton!).pipe(mapTo(Command.Backward));
+  const neutralPress$ = createPressStream(neutralButton!).pipe(
+    mapTo(Command.Neutral)
+  );
+  const forwardPress$ = createPressStream(forwardButton!).pipe(
+    mapTo(Command.Forward)
+  );
+  const backPress$ = createPressStream(backwardButton!).pipe(
+    mapTo(Command.Backward)
+  );
 
   merge(backPress$, neutralPress$, forwardPress$)
     .pipe(
@@ -249,11 +263,7 @@ const setupUI = () => {
 
   startClick$
     .pipe(
-      switchMap(_ =>
-        interval(100).pipe(
-          takeUntil(stopClick$)
-        )
-      ),
+      switchMap(_ => interval(100).pipe(takeUntil(stopClick$))),
       flatMap(_ => from(predict())),
       distinctUntilChanged()
     )
@@ -267,21 +277,33 @@ const setupUI = () => {
     }
   });
 
-  predictionResultSubject
-    .subscribe(async label => {
-      if (label !== null) {
-        const velocity = label - 1; // label to velocity
-        await robotController.setVelocity(velocity);
-      }
-    });
+  predictionResultSubject.subscribe(label => {
+    if (label !== null) {
+      const velocity = label - 1; // label to velocity
+      robotController.setVelocity(velocity);
+    }
+  });
 
   stopClick$.subscribe(_ => resetAll());
 };
 
 (async () => {
+  const topic$ = createTopic$(window);
+  const targetSelectors = Array.from(
+    document.querySelectorAll<HTMLAnchorElement>('#target-selector a')
+  );
+  topic$.subscribe(topic =>
+    targetSelectors.forEach(a => {
+      if (a.getAttribute('href') === `#${topic}`) {
+        a.classList.add('active');
+      } else {
+        a.classList.remove('active');
+      }
+    })
+  );
   [robotController, mobilenet] = await Promise.all([
-    RobotController.createInstance(Robot.NOBUNAGA, Wheel.LEFT),
+    RobotController.createInstance(topic$),
     loadMobilenet(MODEL_URL)
   ]);
-  setupUI();
-})();
+  await setupUI();
+})().catch(err => console.error(err));
diff --git a/web/robot.ts b/web/robot.ts
index 114ce6b..664256c 100644
--- a/web/robot.ts
+++ b/web/robot.ts
@@ -1,31 +1,31 @@
-import { connect, Packet, MqttClient } from 'mqtt';
+import { connect, MqttClient } from 'mqtt';
+import { combineLatest, Observable, Subject } from 'rxjs';
+import { map } from 'rxjs/operators';
 
-export const enum Robot {
-  NOBUNAGA = 'nobunaga'
-}
+export class RobotController {
+  private velocity$ = new Subject<number>();
 
-export const enum Wheel {
-  LEFT = 'left', RIGHT = 'right'
-}
+  private constructor(client: MqttClient, topic$: Observable<string>) {
+    combineLatest(topic$, this.velocity$)
+      .pipe(
+        map(([topic, velocity]) => client.publish(topic, velocity.toString()))
+      )
+      .subscribe();
+  }
 
-export class RobotController {
-  static createInstance(robot: Robot, wheel: Wheel): Promise<RobotController> {
+  static createInstance(topic$: Observable<string>): Promise<RobotController> {
     const client = connect(`mqtt://${location.hostname}:9001`);
-    return new Promise((resolve, reject) => client
-      .on('connect', () => {
-        console.log('MQTT connected');
-        resolve(new RobotController(client, `${robot}-${wheel}`));
-      })
-      .on('error', err => reject(err))
+    return new Promise((resolve, reject) =>
+      client
+        .on('connect', () => {
+          console.log('MQTT connected');
+          resolve(new RobotController(client, topic$));
+        })
+        .on('error', err => reject(err))
     );
   }
 
-  private constructor(private client: MqttClient, private topic: string) {
-  }
-
-  setVelocity(velocity: number): Promise<Packet> {
-    return new Promise<Packet>((resolve, reject) =>
-      this.client.publish(this.topic, velocity.toString(), (err, packet) => err ? reject(err) : resolve(packet))
-    );
+  setVelocity(velocity: number): void {
+    this.velocity$.next(velocity);
   }
 }
diff --git a/web/topic.ts b/web/topic.ts
new file mode 100644
index 0000000..ac61de0
--- /dev/null
+++ b/web/topic.ts
@@ -0,0 +1,10 @@
+import { fromEvent, merge, Observable, of } from 'rxjs';
+import { map, filter, shareReplay } from 'rxjs/operators';
+
+export function createTopic$(window: Window): Observable<string> {
+  return merge(of(null), fromEvent(window, 'hashchange')).pipe(
+    map(() => window.location.hash.slice(1)),
+    filter(Boolean),
+    shareReplay()
+  );
+}