designing SW to run hosted simulator

Code and unit-tests are currently being written for this issue.

A merge request is open for this issue. Hopefully others are looking at it and giving helpful feedback.

This issue is going to be worked on at some point, but some other issues need to be done first.

This issue is ripe and ready for adoption.

Code for this issue is being deployed on-robot for further testing.

design rework, fixing bad code

Large and broad. The type that should be subdivided into smaller tracking issues that will be tracked by this issue.