infinicode 2.8.103 → 2.8.104

package/dist/kernel/federation/dashboard-html.js

@@ -1132,7 +1132,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
       <div class="rp-quickrow">
         <div class="rp-field"><label>Robot name</label><input id="rb-name" placeholder="jaguar"></div>
         <div class="rp-field"><label>Character preset</label><select id="rb-char"><option value="">— auto (matched from name) —</option></select></div>
-        <div class="rp-field"><label>Robot network</label><select id="rb-network"><option value="auto">Auto from hub address</option><option value="lan">LAN</option><option value="tailscale">Tailscale</option></select></div>
+        <div class="rp-field"><label>Robot network</label><select id="rb-network"><option value="lan">LAN (onsite default)</option><option value="tailscale">Tailscale</option></select></div>
         <div class="rp-field"><label>Mesh token</label><input id="rb-token" spellcheck="false" autocomplete="off" placeholder="required in generated command"></div>
         <button class="rp-btn primary" id="rb-add" style="height:fit-content">Add robot</button>
       </div>
@@ -1175,7 +1175,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
         <div class="rp-config-hero-actions"><button class="rp-btn" id="rp-command-reset">Reset environment</button><button class="rp-btn primary" id="rp-command-copy-all">Copy visible commands</button></div>
       </div>
       <div class="rp-command-env">
-        <div class="rp-field"><label>Hub LAN IP</label><input id="rp-command-lan" value="192.168.1.12" spellcheck="false"></div>
+        <div class="rp-field"><label>Hub LAN IP</label><input id="rp-command-lan" value="192.168.0.9" spellcheck="false"></div>
         <div class="rp-field"><label>Hub Tailscale IP / DNS</label><input id="rp-command-tail" value="100.84.147.24" spellcheck="false"></div>
         <div class="rp-field"><label>Site</label><input id="rp-command-site" value="Tel Aviv"></div>
         <div class="rp-field"><label>Robot name</label><input id="rp-command-robot" value="bmw" spellcheck="false"></div>
@@ -2262,10 +2262,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
   // needed to see it; 'robopark add-robot' mints its own token when run ──
   function buildAddRobotCommand(name, characterId){
     if(!name) return '';
-    var hubUrl=location.origin.replace(/\\/+$/,'');
+    var network=$('rb-network')&&$('rb-network').value||'lan';
+    var commandEnv=rpCommandEnv();
+    var hubHost=network==='tailscale'?commandEnv.tail:commandEnv.lan;
+    var hubUrl=/^https?:\/\//i.test(hubHost)?hubHost.replace(/\\/+$/,''):'http://'+hubHost.replace(/\\/+$/,'')+':47913';
     var schedulerUrl=hubUrl+'/robopark';
-    var requestedNetwork=$('rb-network')&&$('rb-network').value||'auto';
-    var network=requestedNetwork==='auto'?(/^100\\./.test(location.hostname)||/\\.ts\\.net$/i.test(location.hostname)?'tailscale':'lan'):requestedNetwork;
     var argv=['robopark','add-robot',name];
     if(characterId) argv.push('--character', characterId);
     var site=$('rb-site')&&$('rb-site').value.trim();if(site)argv.push('--site',site);
@@ -2672,7 +2673,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
   var RP_COMMAND_ENV_KEY='rp-command-env-v1';
   var RP_CUSTOM_COMMANDS_KEY='rp-custom-commands-v1';
   var rpVisibleCommands=[];
-  function rpCommandDefaults(){return {lan:'192.168.1.12',tail:'100.84.147.24',site:'Tel Aviv',robot:'bmw',enrollment:'',token:dashboardMeshToken()};}
+  function rpCommandDefaults(){return {lan:'192.168.0.9',tail:'100.84.147.24',site:'Tel Aviv',robot:'bmw',enrollment:'',token:dashboardMeshToken()};}
   function rpLoadStoredJson(key,fallback){try{var value=JSON.parse(localStorage.getItem(key)||'null');return value&&typeof value==='object'?value:fallback;}catch(e){return fallback;}}
   function rpCommandEnv(){
     var d=rpCommandDefaults(),s=rpLoadStoredJson(RP_COMMAND_ENV_KEY,{});
@@ -7611,7 +7612,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
     function motorStatus(message,kind){var host=$('pk-motor-status');if(host){host.textContent=message;host.className='pk-motor-status '+(kind||'');}}
     function loadMotorProfile(n){
       var robotId=schedId(n);motorStatus('Loading saved motor profile...');
-      getJson('/robopark/api/robots/'+encodeURIComponent(robotId)+'/motor-profile').then(function(data){motorProfile={registry:data.registry||[],sequences:data.sequences||[],greeting_sequence_id:data.greeting_sequence_id||null,motor_server_url:(schedulerDevice(n)||{}).motor_server_url||'http://127.0.0.1:8001'};if(!motorProfile.sequences.length)motorProfile.sequences=[{id:'greeting-motion',name:'Greeting motion',steps:[]}];motorSequenceId=motorProfile.greeting_sequence_id||motorProfile.sequences[0].id;renderMotorEditor();motorStatus('Saved profile loaded | '+motorProfile.registry.length+' relay(s), '+motorProfile.sequences.length+' sequence(s)','ok');}).catch(function(error){motorStatus('Motor profile unavailable: '+error.message,'bad');});
+      getJson('/robopark/api/robots/'+encodeURIComponent(robotId)+'/motor-profile').then(function(data){motorProfile={registry:data.registry||[],sequences:data.sequences||[],greeting_sequence_id:data.greeting_sequence_id||null,motor_server_url:(schedulerDevice(n)||{}).motor_server_url||data.motor_server_url||'http://127.0.0.1:8001'};if(!motorProfile.sequences.length)motorProfile.sequences=[{id:'greeting-motion',name:'Greeting motion',steps:[]}];motorSequenceId=motorProfile.greeting_sequence_id||motorProfile.sequences[0].id;renderMotorEditor();if(motorProfile.registry.length){motorStatus('Saved profile loaded | '+motorProfile.registry.length+' relay(s), '+motorProfile.sequences.length+' sequence(s)','ok');return;}motorStatus('No central registry; discovering robot-local relays...');return discoverMotorRelays(n,true);}).catch(function(error){motorStatus('Motor profile unavailable: '+error.message,'bad');});
     }
     function saveMotorProfile(n){
       captureMotorEditor();var robotId=schedId(n),url=motorProfile.motor_server_url;
@@ -7628,11 +7629,17 @@ button.act:disabled{opacity:0.5;cursor:default;}
       captureMotorEditor();var motor=motorProfile.registry[index];if(!motor)return;var robotId=schedId(n);motorStatus('Saving profile before safe 300 ms '+motor.name+' test...');
       saveMotorProfile(n).then(function(){return rpAction('POST','/robopark/api/robots/'+encodeURIComponent(robotId)+'/motors/'+encodeURIComponent(motor.id)+'/test?duration_ms=300',{});}).then(function(q){return _shellWaitForResult(robotId,q.request_id,q.device_id||robotId,'','motor-test');}).then(function(result){motorStatus(result.ok?motor.name+' relay test completed.':'Relay test failed: '+(result.error||'unknown error'),result.ok?'ok':'bad');}).catch(function(error){motorStatus('Relay test failed: '+error.message,'bad');});
     }
+    function discoverMotorRelays(n,automatic){
+      var robotId=schedId(n);motorStatus((automatic?'Automatically discovering':'Discovering')+' relays from the robot motor server...');
+      return rpAction('POST','/robopark/api/robots/'+encodeURIComponent(robotId)+'/motors/discover',{}).then(function(q){return _shellWaitForResult(robotId,q.request_id,q.device_id||robotId,'','motor-discover');}).then(function(result){
+        if(!result.ok)throw new Error(result.error||'robot motor discovery failed');
+        if(!result.registry||!result.registry.length)throw new Error('Robot motor server has no registered relays. Register the wired BCM pins once; unknown pins will not be pulsed.');
+        motorProfile.registry=result.registry;renderMotorEditor();motorStatus('Discovered '+result.registry.length+' robot-local relay(s); saving centrally...','ok');return saveMotorProfile(n);
+      });
+    }
     function testAllMotorRelays(n){
-      captureMotorEditor();if(!motorProfile.registry.length){motorStatus('Register at least one relay before running the GPIO test.','bad');return;}
-      if(!window.confirm('Pulse all '+motorProfile.registry.length+' registered relays one at a time? Ensure the motor area is clear.'))return;
-      var robotId=schedId(n);motorStatus('Saving profile and testing '+motorProfile.registry.length+' registered GPIO relay(s), one at a time...');
-      saveMotorProfile(n).then(function(){return rpAction('POST','/robopark/api/robots/'+encodeURIComponent(robotId)+'/motors/test-all?duration_ms=300&pause_ms=200',{});}).then(function(q){return _shellWaitForResult(robotId,q.request_id,q.device_id||robotId,'','gpio-test-all');}).then(function(result){motorStatus(result.ok?'Full registered GPIO test completed: '+(result.completed_steps||[]).length+' relay(s).':'GPIO test failed: '+(result.error||'unknown error'),result.ok?'ok':'bad');}).catch(function(error){motorStatus('GPIO test failed: '+error.message,'bad');});
+      captureMotorEditor();var ready=motorProfile.registry.length?Promise.resolve():discoverMotorRelays(n,true);
+      ready.then(function(){if(!window.confirm('Pulse all '+motorProfile.registry.length+' registered relays one at a time? Ensure the motor area is clear.'))return null;var robotId=schedId(n);motorStatus('Saving profile and testing '+motorProfile.registry.length+' registered GPIO relay(s), one at a time...');return saveMotorProfile(n).then(function(){return rpAction('POST','/robopark/api/robots/'+encodeURIComponent(robotId)+'/motors/test-all?duration_ms=300&pause_ms=200',{});}).then(function(q){return _shellWaitForResult(robotId,q.request_id,q.device_id||robotId,'','gpio-test-all');}).then(function(result){motorStatus(result.ok?'Full registered GPIO test completed: '+(result.completed_steps||[]).length+' relay(s).':'GPIO test failed: '+(result.error||'unknown error'),result.ok?'ok':'bad');});}).catch(function(error){motorStatus('GPIO test failed: '+error.message,'bad');});
     }
 
     var pipelineHistoryPage=1;

package/dist/robopark/add-robot.js

@@ -50,11 +50,18 @@ function schedulerApiUrl(schedulerUrl, path, token) {
 }
 async function mintEnrollmentToken(schedulerUrl, name, characterId, token) {
     const url = schedulerApiUrl(schedulerUrl, '/api/devices', token);
-    const res = await fetch(url, {
-        method: 'POST',
-        headers: { 'content-type': 'application/json' },
-        body: JSON.stringify({ name, character_id: characterId }),
-    });
+    let res;
+    try {
+        res = await fetch(url, {
+            method: 'POST',
+            headers: { 'content-type': 'application/json' },
+            body: JSON.stringify({ name, character_id: characterId }),
+        });
+    }
+    catch (error) {
+        const cause = error.cause;
+        throw new Error(`cannot reach scheduler through ${schedulerUrl}: ${cause?.message ?? error.message}`);
+    }
     if (!res.ok) {
         const text = await res.text().catch(() => '');
         throw new Error(`${res.status}: ${text || res.statusText}`);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.103",
+  "version": "2.8.104",
   "description": "OpenKernel — provider-agnostic AI execution kernel. Native coding agent + mission-driven execution runtime.",
   "type": "module",
   "main": "./dist/kernel/index.js",

package/packages/robopark/scheduler/main.py

@@ -4131,6 +4131,22 @@ async def test_robot_motor(robot_id: str, motor_id: str, duration_ms: int = 300)
     })
     return {"queued": True, "request_id": request_id, "device_id": model.id}
 
+@app.post("/api/robots/{robot_id}/motors/discover")
+async def discover_robot_motors(robot_id: str):
+    """Import relays already registered by the robot-local motor server.
+
+    This is read-only on the robot. It never scans or pulses unregistered GPIO.
+    The dashboard validates and persists the returned registry before testing.
+    """
+    device = await _resolve_device_by_id_or_name(robot_id)
+    model = _device_row_to_model(device)
+    if not model.motor_server_url:
+        raise HTTPException(409, "Robot has no motor_server_url")
+    request_id = await _queue_shell_request_async(model.id, "motor_discover", "motor_server", {
+        "motor_server_url": model.motor_server_url,
+    })
+    return {"queued": True, "request_id": request_id, "device_id": model.id}
+
 @app.post("/api/robots/{robot_id}/motors/test-all")
 async def test_all_robot_motors(robot_id: str, duration_ms: int = 300, pause_ms: int = 200):
     device = await _resolve_device_by_id_or_name(robot_id)

package/packages/robopark/scheduler/robot_supervisor.py

@@ -427,6 +427,8 @@ def _handle_shell_command(identity, cmd: dict) -> None:
         result = _run_shell_command(params.get("name", ""), params)
     elif kind == "speaker_test":
         result = _speaker_roundtrip_test(params)
+    elif kind == "motor_discover":
+        result = _discover_motor_registry(params)
     elif kind == "motor_sequence":
         result = _run_motor_sequence(params)
     else:
@@ -434,6 +436,45 @@ def _handle_shell_command(identity, cmd: dict) -> None:
     _post_supervisor_output(identity, kind, service, result, request_id)
 
 
+def _discover_motor_registry(params: dict) -> dict:
+    """Read the robot-local motor registry without touching any GPIO output."""
+    import httpx
+    import re
+
+    base = str(params.get("motor_server_url") or "http://127.0.0.1:8001").rstrip("/")
+    if not (base.startswith("http://127.0.0.1:") or base.startswith("http://localhost:")):
+        return {"ok": False, "error": "motor server must be robot-local"}
+    try:
+        with httpx.Client(timeout=5.0) as client:
+            response = client.get(f"{base}/list-motors")
+            response.raise_for_status()
+            raw_motors = response.json().get("motors", [])
+        registry, used_ids, used_gpios = [], set(), set()
+        for index, raw in enumerate(raw_motors[:32]):
+            gpio = int(raw.get("gpio", -1))
+            if gpio < 2 or gpio > 27 or gpio in used_gpios:
+                continue
+            name = str(raw.get("name") or f"Relay {index + 1}").strip()[:60]
+            base_id = re.sub(r"[^a-z0-9_-]+", "-", name.lower()).strip("-") or f"relay-{index + 1}"
+            motor_id, suffix = base_id[:32], 2
+            while motor_id in used_ids:
+                tail = f"-{suffix}"
+                motor_id = f"{base_id[:32-len(tail)]}{tail}"
+                suffix += 1
+            used_ids.add(motor_id)
+            used_gpios.add(gpio)
+            registry.append({
+                "id": motor_id,
+                "name": name,
+                "gpio": gpio,
+                "active_high": bool(raw.get("active_high", True)),
+                "max_duration_ms": 3000,
+            })
+        return {"ok": True, "registry": registry, "count": len(registry), "motor_server_url": base}
+    except Exception as exc:
+        return {"ok": False, "error": f"motor registry discovery failed: {type(exc).__name__}: {exc}"}
+
+
 def _run_motor_sequence(params: dict) -> dict:
     """Run one validated scheduler sequence against the robot-local motor API."""
     import httpx