infinicode 2.8.103 → 2.8.106

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Files changed (8) hide show
  1. package/dist/kernel/federation/dashboard-html.d.ts +1 -1
  2. package/dist/kernel/federation/dashboard-html.js +69 -36
  3. package/dist/robopark/add-robot.js +12 -5
  4. package/docs/ROBOPARK_PRODUCTION_MEMORY.md +25 -1
  5. package/package.json +1 -1
  6. package/packages/robopark/scheduler/main.py +33 -2
  7. package/packages/robopark/scheduler/preview_agent.py +18 -12
  8. package/packages/robopark/scheduler/robot_supervisor.py +59 -1
package/dist/kernel/federation/dashboard-html.js CHANGED
@@ -26,7 +26,7 @@ export const DASHBOARD_HTML = `<!doctype html>
26
26
  <head>
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  <meta charset="utf-8">
28
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  <meta name="viewport" content="width=device-width, initial-scale=1">
29
- <meta name="robopark-ui-build" content="provisioning-token-20260717-1">
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+ <meta name="robopark-ui-build" content="provisioning-command-20260717-2">
30
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  <title>RoboPark Control</title>
31
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  <style>
32
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  /* ── premium tech glass theme ── dark is the committed default; light is a frosted toggle ── */
@@ -1132,7 +1132,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
1132
1132
  <div class="rp-quickrow">
1133
1133
  <div class="rp-field"><label>Robot name</label><input id="rb-name" placeholder="jaguar"></div>
1134
1134
  <div class="rp-field"><label>Character preset</label><select id="rb-char"><option value="">— auto (matched from name) —</option></select></div>
1135
- <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>
1135
+ <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>
1136
1136
  <div class="rp-field"><label>Mesh token</label><input id="rb-token" spellcheck="false" autocomplete="off" placeholder="required in generated command"></div>
1137
1137
  <button class="rp-btn primary" id="rb-add" style="height:fit-content">Add robot</button>
1138
1138
  </div>
@@ -1175,7 +1175,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
1175
1175
  <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>
1176
1176
  </div>
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  <div class="rp-command-env">
1178
- <div class="rp-field"><label>Hub LAN IP</label><input id="rp-command-lan" value="192.168.1.12" spellcheck="false"></div>
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+ <div class="rp-field"><label>Hub LAN IP</label><input id="rp-command-lan" value="192.168.0.9" spellcheck="false"></div>
1179
1179
  <div class="rp-field"><label>Hub Tailscale IP / DNS</label><input id="rp-command-tail" value="100.84.147.24" spellcheck="false"></div>
1180
1180
  <div class="rp-field"><label>Site</label><input id="rp-command-site" value="Tel Aviv"></div>
1181
1181
  <div class="rp-field"><label>Robot name</label><input id="rp-command-robot" value="bmw" spellcheck="false"></div>
@@ -1264,8 +1264,20 @@ button.act:disabled{opacity:0.5;cursor:default;}
1264
1264
  var lastFedStatusAt = 0; // updated by poll() on every successful /fed/status fetch
1265
1265
  var lastStatus = null; // most recent /fed/status snapshot (shared with Park)
1266
1266
  var roboparkByName = {}; // robot_id -> latest telemetry row (shared with Park drawer)
1267
- var schedulerDevicesById = {}; // enrolled device rows + camera/audio inventory
1268
- var schedulerDevicesByName = {}; // same rows, keyed by device name (id != name, e.g. dev_8984a80e vs jaguar2)
1267
+ var schedulerDevicesById = {}; // enrolled device rows + camera/audio inventory
1268
+ var schedulerDevicesByName = {}; // same rows, keyed by device name (id != name, e.g. dev_8984a80e vs jaguar2)
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+ function schedulerDeviceScore(device){
1270
+ if(!device) return -1;
1271
+ var status=String(device.status||'').trim().toLowerCase();
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+ var heartbeat=Date.parse(device.last_heartbeat||'');
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+ var enrolled=Date.parse(device.enrolled_at||device.created_at||'');
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+ var fresh=Number.isFinite(heartbeat)&&(Date.now()-heartbeat)<45000;
1275
+ var score=fresh?1000000000000000:0;
1276
+ if(status==='online'||status==='running'||status==='detecting'||status==='connecting') score+=1000000000000;
1277
+ if(Number.isFinite(heartbeat)) score+=heartbeat;
1278
+ else if(Number.isFinite(enrolled)) score+=enrolled;
1279
+ return score;
1280
+ }
1269
1281
  var voiceStacks = []; // scheduler voice stacks (shared with setup forms + templates)
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  var FALLBACK_SLOTS = [
1271
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  {label:'VOLT', id:'volt', keys:['volt'], nx:0.18, ny:0.26, img:'/static/robopark/volt.png'},
@@ -1732,17 +1744,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
1732
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  // A stale re-enrollment can leave more than one row with the same
1733
1745
  // display name. Keep the live/fresh device, never whichever SQLite
1734
1746
  // happened to return last, because all operator routes are id-keyed.
1735
- function deviceScore(device){
1736
- var status=norm(device&&device.status), at=Date.parse(device&&device.last_heartbeat||''), score=0;
1737
- if(status==='online'||status==='running'||status==='detecting'||status==='connecting') score+=10000;
1738
- if(Number.isFinite(at)) score+=Math.max(0, Math.floor(at/1000));
1739
- return score;
1740
- }
1741
1747
  (Array.isArray(devices)?devices:[]).forEach(function(device){
1742
1748
  deviceById[device.id] = device;
1743
1749
  if(device.name){
1744
1750
  var key=norm(device.name), current=deviceByName[key];
1745
- if(!current || deviceScore(device)>deviceScore(current)) deviceByName[key] = device;
1751
+ if(!current || schedulerDeviceScore(device)>schedulerDeviceScore(current)) deviceByName[key] = device;
1746
1752
  }
1747
1753
  });
1748
1754
  schedulerDevicesById = deviceById;
@@ -2262,10 +2268,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
2262
2268
  // needed to see it; 'robopark add-robot' mints its own token when run ──
2263
2269
  function buildAddRobotCommand(name, characterId){
2264
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  if(!name) return '';
2265
- var hubUrl=location.origin.replace(/\\/+$/,'');
2271
+ var network=$('rb-network')&&$('rb-network').value||'lan';
2272
+ var commandEnv=rpCommandEnv();
2273
+ var hubHost=network==='tailscale'?commandEnv.tail:commandEnv.lan;
2274
+ var hubUrl=/^https?:\/\//i.test(hubHost)?hubHost.replace(/\\/+$/,''):'http://'+hubHost.replace(/\\/+$/,'')+':47913';
2266
2275
  var schedulerUrl=hubUrl+'/robopark';
2267
- var requestedNetwork=$('rb-network')&&$('rb-network').value||'auto';
2268
- var network=requestedNetwork==='auto'?(/^100\\./.test(location.hostname)||/\\.ts\\.net$/i.test(location.hostname)?'tailscale':'lan'):requestedNetwork;
2269
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  var argv=['robopark','add-robot',name];
2270
2277
  if(characterId) argv.push('--character', characterId);
2271
2278
  var site=$('rb-site')&&$('rb-site').value.trim();if(site)argv.push('--site',site);
@@ -2274,8 +2281,22 @@ button.act:disabled{opacity:0.5;cursor:default;}
2274
2281
  argv.push('--token', meshToken);
2275
2282
  if(schedulerUrl) argv.push('--scheduler-url', schedulerUrl);
2276
2283
  argv.push(network==='tailscale'?'--tailscale':'--lan','--start','--auto-start','--yes');
2277
- return argv.map(function(a){ return /[^a-zA-Z0-9_./:=,-]/.test(a) ? '"'+a.replace(/"/g,'\\"')+'"' : a; }).join(' ');
2278
- }
2284
+ return argv.map(function(a){ return /[^a-zA-Z0-9_./:=,-]/.test(a) ? '"'+a.replace(/"/g,'\\"')+'"' : a; }).join(' ');
2285
+ }
2286
+ function buildPadRobotCommand(name,characterId,enrollmentToken){
2287
+ var env=rpCommandEnv(),hubHost=env.lan||'192.168.0.9';
2288
+ var hubUrl=/^https?:\/\//i.test(hubHost)?hubHost.replace(/\\\/+$/,''):'http://'+hubHost.replace(/\\\/+$/,'')+':47913';
2289
+ var meshToken=env.token||dashboardMeshToken()||'<mesh-token>',site=env.site||'Tel Aviv';
2290
+ var argv;
2291
+ if(enrollmentToken){
2292
+ argv=['sudo','robopark','setup','--robot','--name',name,'--site',site,'--hub-url',hubUrl,'--token',meshToken,'--scheduler-port','8080','--port','47913','--lan','--enrollment-token',enrollmentToken,'--start','--auto-start','--yes'];
2293
+ }else{
2294
+ argv=['robopark','add-robot',name];
2295
+ if(characterId)argv.push('--character',characterId);
2296
+ argv.push('--site',site,'--hub-url',hubUrl,'--token',meshToken,'--scheduler-url',hubUrl+'/robopark','--lan','--start','--auto-start','--yes');
2297
+ }
2298
+ return argv.map(function(a){return /[^a-zA-Z0-9_./:=,-]/.test(a)?'"'+String(a).replace(/"/g,'\\"')+'"':String(a);}).join(' ');
2299
+ }
2279
2300
  function refreshRobotCliCommand(){
2280
2301
  var name=$('rb-name').value.trim(); var cid=$('rb-char').value||'';
2281
2302
  var row=$('rb-clicmd-row'), inp=$('rb-clicmd');
@@ -2672,7 +2693,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
2672
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  var RP_COMMAND_ENV_KEY='rp-command-env-v1';
2673
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  var RP_CUSTOM_COMMANDS_KEY='rp-custom-commands-v1';
2674
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  var rpVisibleCommands=[];
2675
- function rpCommandDefaults(){return {lan:'192.168.1.12',tail:'100.84.147.24',site:'Tel Aviv',robot:'bmw',enrollment:'',token:dashboardMeshToken()};}
2696
+ function rpCommandDefaults(){return {lan:'192.168.0.9',tail:'100.84.147.24',site:'Tel Aviv',robot:'bmw',enrollment:'',token:dashboardMeshToken()};}
2676
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  function rpLoadStoredJson(key,fallback){try{var value=JSON.parse(localStorage.getItem(key)||'null');return value&&typeof value==='object'?value:fallback;}catch(e){return fallback;}}
2677
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  function rpCommandEnv(){
2678
2699
  var d=rpCommandDefaults(),s=rpLoadStoredJson(RP_COMMAND_ENV_KEY,{});
@@ -6880,11 +6901,14 @@ button.act:disabled{opacity:0.5;cursor:default;}
6880
6901
  livekit_url:$('pk-setup-lk').value.trim()||null,
6881
6902
  video_device:'auto', audio_device:'default'
6882
6903
  };
6883
- rpAction('POST','/robopark/api/devices',body).then(function(j){
6884
- var token=(j&&j.enrollment_token)||'';
6885
- $('pk-setup-token').value=token;
6886
- $('pk-setup-result').style.display='block';
6887
- showOut('robot added: '+esc((j&&j.name)||name)+'\\ntoken: '+esc(token));
6904
+ rpAction('POST','/robopark/api/devices',body).then(function(j){
6905
+ var token=(j&&j.enrollment_token)||'';
6906
+ $('pk-setup-token').value=token;
6907
+ $('pk-setup-result').style.display='block';
6908
+ var command=$('pk-setup-clicmd'),label=$('pk-setup-clicmd-label');
6909
+ if(command)command.value=buildPadRobotCommand(name,body.character_id||n.id,token);
6910
+ if(label)label.textContent='run this ON THE ROBOT (uses the token minted above)';
6911
+ showOut('robot added: '+esc((j&&j.name)||name)+'\\ntoken: '+esc(token));
6888
6912
  pollRoboparkQuiet();
6889
6913
  }).catch(function(e){ showOut('pad setup ('+esc(n.label)+'): '+e.message); });
6890
6914
  }
@@ -7016,14 +7040,17 @@ button.act:disabled{opacity:0.5;cursor:default;}
7016
7040
  function schedulerDevice(n){
7017
7041
  // Deliberately does not call schedRow: telemetry can contain a legacy
7018
7042
  // robot name, while this lookup must choose the current enrolled device.
7043
+ var candidates=[];
7019
7044
  var ids=[n.schedulerDeviceId,n.schedulerRobotId,n.id,n.nodeId];
7020
- for(var i=0;i<ids.length;i++) if(ids[i]&&schedulerDevicesById[ids[i]]) return schedulerDevicesById[ids[i]];
7045
+ for(var i=0;i<ids.length;i++) if(ids[i]&&schedulerDevicesById[ids[i]]) candidates.push(schedulerDevicesById[ids[i]]);
7021
7046
  var names=[n.name,n.displayName,n.label];
7022
7047
  for(var j=0;j<names.length;j++){
7023
7048
  var key=String(names[j]||'').toLowerCase();
7024
- if(key&&schedulerDevicesByName[key]) return schedulerDevicesByName[key];
7049
+ if(key&&schedulerDevicesByName[key]) candidates.push(schedulerDevicesByName[key]);
7025
7050
  }
7026
- return null;
7051
+ candidates=candidates.filter(function(device,index,list){return device&&list.indexOf(device)===index;});
7052
+ candidates.sort(function(a,b){return schedulerDeviceScore(b)-schedulerDeviceScore(a);});
7053
+ return candidates[0]||null;
7027
7054
  }
7028
7055
  function deviceList(inv, key, fallback){
7029
7056
  var list=inv&&Array.isArray(inv[key])?inv[key]:[];
@@ -7422,7 +7449,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
7422
7449
  + '<div class="rp-field"><label>Robot name</label><input id="pk-setup-name" value="'+esc(defaultName)+'"></div>'
7423
7450
  + '<div class="rp-field"><label>Character preset</label><select id="pk-setup-char"><option value="">— auto —</option>'+presetOptions+'</select></div>'
7424
7451
  + '<div class="rp-quickrow" style="padding:0;"><button class="rp-btn primary" id="pk-setup-btn" data-preset="'+esc(n.id)+'" style="width:fit-content;">Mint enrollment token &amp; add robot</button></div>'
7425
- + '<div class="rp-field"><label>or run this ON THE ROBOT (mints its own token)</label><input id="pk-setup-clicmd" readonly></div>'
7452
+ + '<div class="rp-field"><label id="pk-setup-clicmd-label">or run this ON THE ROBOT (mints its own token)</label><textarea id="pk-setup-clicmd" readonly rows="4" style="resize:vertical;font-family:var(--mono);font-size:.62rem;"></textarea></div>'
7426
7453
  + '<div class="rp-quickrow" style="padding:0;"><button class="rp-btn" id="pk-setup-clicmd-copy" style="width:fit-content;">📋 Copy command</button></div>'
7427
7454
  + '<details class="rp-advanced"><summary>Advanced — pre-set network/voice config</summary>'
7428
7455
  + '<div class="rp-advanced-grid">'
@@ -7436,10 +7463,10 @@ button.act:disabled{opacity:0.5;cursor:default;}
7436
7463
  + '<div class="pk-sect" id="pk-setup-result" style="display:none;"><h4>Enrollment token (copy once)</h4><input id="pk-setup-token" readonly style="margin-bottom:0.4rem;"><button class="rp-btn" id="pk-setup-copy">Copy</button></div>');
7437
7464
  var setupBtn=$('pk-setup-btn'); if(setupBtn) setupBtn.addEventListener('click', function(){ submitPadSetup(n); });
7438
7465
  var copyBtn=$('pk-setup-copy'); if(copyBtn) copyBtn.addEventListener('click', function(){ var t=$('pk-setup-token'); if(t){ t.select(); try{document.execCommand('copy');}catch(e){} showOut('token copied'); } });
7439
- function refreshPadCliCommand(){
7440
- var nm=$('pk-setup-name').value.trim()||defaultName; var cid=$('pk-setup-char').value||n.id;
7441
- var el=$('pk-setup-clicmd'); if(el) el.value=buildAddRobotCommand(nm, cid);
7442
- }
7466
+ function refreshPadCliCommand(){
7467
+ var nm=$('pk-setup-name').value.trim()||defaultName; var cid=$('pk-setup-char').value||n.id;
7468
+ var el=$('pk-setup-clicmd'),label=$('pk-setup-clicmd-label');if(el)el.value=buildPadRobotCommand(nm,cid,'');if(label)label.textContent='or run this ON THE ROBOT (mints its own token)';
7469
+ }
7443
7470
  var padNameEl=$('pk-setup-name'); if(padNameEl) padNameEl.addEventListener('input', refreshPadCliCommand);
7444
7471
  var padCharEl=$('pk-setup-char'); if(padCharEl) padCharEl.addEventListener('change', refreshPadCliCommand);
7445
7472
  var padCliCopy=$('pk-setup-clicmd-copy'); if(padCliCopy) padCliCopy.addEventListener('click', function(){ var i=$('pk-setup-clicmd'); i.select(); try{document.execCommand('copy');}catch(e){} showOut('command copied — run it on the robot itself'); });
@@ -7611,7 +7638,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
7611
7638
  function motorStatus(message,kind){var host=$('pk-motor-status');if(host){host.textContent=message;host.className='pk-motor-status '+(kind||'');}}
7612
7639
  function loadMotorProfile(n){
7613
7640
  var robotId=schedId(n);motorStatus('Loading saved motor profile...');
7614
- 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');});
7641
+ 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');});
7615
7642
  }
7616
7643
  function saveMotorProfile(n){
7617
7644
  captureMotorEditor();var robotId=schedId(n),url=motorProfile.motor_server_url;
@@ -7628,11 +7655,17 @@ button.act:disabled{opacity:0.5;cursor:default;}
7628
7655
  captureMotorEditor();var motor=motorProfile.registry[index];if(!motor)return;var robotId=schedId(n);motorStatus('Saving profile before safe 300 ms '+motor.name+' test...');
7629
7656
  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');});
7630
7657
  }
7658
+ function discoverMotorRelays(n,automatic){
7659
+ var robotId=schedId(n);motorStatus((automatic?'Automatically discovering':'Discovering')+' relays from the robot motor server...');
7660
+ 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){
7661
+ if(!result.ok)throw new Error(result.error||'robot motor discovery failed');
7662
+ 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.');
7663
+ motorProfile.registry=result.registry;renderMotorEditor();motorStatus('Discovered '+result.registry.length+' robot-local relay(s); saving centrally...','ok');return saveMotorProfile(n);
7664
+ });
7665
+ }
7631
7666
  function testAllMotorRelays(n){
7632
- captureMotorEditor();if(!motorProfile.registry.length){motorStatus('Register at least one relay before running the GPIO test.','bad');return;}
7633
- if(!window.confirm('Pulse all '+motorProfile.registry.length+' registered relays one at a time? Ensure the motor area is clear.'))return;
7634
- var robotId=schedId(n);motorStatus('Saving profile and testing '+motorProfile.registry.length+' registered GPIO relay(s), one at a time...');
7635
- 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');});
7667
+ captureMotorEditor();var ready=motorProfile.registry.length?Promise.resolve():discoverMotorRelays(n,true);
7668
+ 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');});
7636
7669
  }
7637
7670
 
7638
7671
  var pipelineHistoryPage=1;
package/dist/robopark/add-robot.js CHANGED
@@ -50,11 +50,18 @@ function schedulerApiUrl(schedulerUrl, path, token) {
50
50
  }
51
51
  async function mintEnrollmentToken(schedulerUrl, name, characterId, token) {
52
52
  const url = schedulerApiUrl(schedulerUrl, '/api/devices', token);
53
- const res = await fetch(url, {
54
- method: 'POST',
55
- headers: { 'content-type': 'application/json' },
56
- body: JSON.stringify({ name, character_id: characterId }),
57
- });
53
+ let res;
54
+ try {
55
+ res = await fetch(url, {
56
+ method: 'POST',
57
+ headers: { 'content-type': 'application/json' },
58
+ body: JSON.stringify({ name, character_id: characterId }),
59
+ });
60
+ }
61
+ catch (error) {
62
+ const cause = error.cause;
63
+ throw new Error(`cannot reach scheduler through ${schedulerUrl}: ${cause?.message ?? error.message}`);
64
+ }
58
65
  if (!res.ok) {
59
66
  const text = await res.text().catch(() => '');
60
67
  throw new Error(`${res.status}: ${text || res.statusText}`);
package/docs/ROBOPARK_PRODUCTION_MEMORY.md CHANGED
@@ -1,6 +1,6 @@
1
1
  # RoboPark Production Memory
2
2
 
3
- Last verified: 2026-07-16
3
+ Last verified: 2026-07-17
4
4
 
5
5
  This records production facts future operators and coding agents must
6
6
  preserve. Never add enrollment tokens, mesh tokens, API keys, or device tokens.
@@ -16,6 +16,30 @@ preserve. Never add enrollment tokens, mesh tokens, API keys, or device tokens.
16
16
  - Robots publish camera and microphone tracks to LiveKit. Park camera preview
17
17
  uses the RoboVision relay rather than LiveKit video.
18
18
 
19
+ ## Production Robot Network Boundary
20
+
21
+ - All onsite production robots, including RoboPanda and BMW/VIXEN, are LAN
22
+ satellites of `livekit-1`. They are not expected to be directly reachable
23
+ from the development laptop, even when the laptop can reach `livekit-1`
24
+ through Tailscale.
25
+ - RoboPanda is reachable only through the `livekit-1` LAN mesh. A missing Panda
26
+ node in the development laptop's direct peer list does not by itself prove
27
+ Panda is offline; inspect it from `livekit-1` and through the scheduler.
28
+ - Route robot commands, spawned agents, supervisor shell requests, camera
29
+ relays, media tests, and production diagnostics through `livekit-1`. Do not
30
+ substitute direct SSH or a development-laptop LAN route.
31
+ - The control path is: operator -> Tailscale/mesh -> `livekit-1:47913` ->
32
+ scheduler proxy `/robopark` -> robot heartbeat/supervisor on the onsite LAN.
33
+ The camera path is: browser -> authenticated `livekit-1` RoboVision mesh
34
+ relay -> robot-local RoboVision service.
35
+ - `livekit-1` currently advertises LAN IPv4 `192.168.0.9`; verify it on the hub
36
+ before generating commands because DHCP may change it. Never use the
37
+ development laptop's LAN address as a robot hub address.
38
+ - When a robot reports a stale heartbeat, diagnose from `livekit-1` first:
39
+ scheduler enrollment row, hub-side mesh membership, robot heartbeat, then
40
+ robot-local runtime logs. Camera troubleshooting starts only after heartbeat
41
+ and mesh connectivity are healthy.
42
+
19
43
  ## BMW Launch Device Lock
20
44
 
21
45
  - Camera: `/dev/video0` (`H65 USB CAMERA`).
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "infinicode",
3
- "version": "2.8.103",
3
+ "version": "2.8.106",
4
4
  "description": "OpenKernel — provider-agnostic AI execution kernel. Native coding agent + mission-driven execution runtime.",
5
5
  "type": "module",
6
6
  "main": "./dist/kernel/index.js",
package/packages/robopark/scheduler/main.py CHANGED
@@ -2671,7 +2671,15 @@ async def list_devices():
2671
2671
  """List all enrolled Pi devices."""
2672
2672
  async with aiosqlite.connect(DB_PATH) as db:
2673
2673
  db.row_factory = aiosqlite.Row
2674
- async with db.execute("SELECT * FROM devices ORDER BY name") as cursor:
2674
+ async with db.execute(
2675
+ """SELECT * FROM devices
2676
+ ORDER BY lower(name),
2677
+ CASE lower(status)
2678
+ WHEN 'online' THEN 0 WHEN 'running' THEN 1
2679
+ WHEN 'detecting' THEN 2 WHEN 'connecting' THEN 3
2680
+ ELSE 4 END,
2681
+ last_heartbeat DESC, enrolled_at DESC, created_at DESC"""
2682
+ ) as cursor:
2675
2683
  return [_device_row_to_model(r) for r in await cursor.fetchall()]
2676
2684
 
2677
2685
  @app.get("/api/devices/by-room/{room_name}")
@@ -3984,7 +3992,14 @@ async def _resolve_device_by_id_or_name(robot_id: str):
3984
3992
  async with aiosqlite.connect(DB_PATH) as db:
3985
3993
  db.row_factory = aiosqlite.Row
3986
3994
  async with db.execute(
3987
- "SELECT * FROM devices WHERE id=? OR lower(name)=lower(?) ORDER BY CASE WHEN id=? THEN 0 ELSE 1 END LIMIT 1",
3995
+ """SELECT * FROM devices WHERE id=? OR lower(name)=lower(?)
3996
+ ORDER BY CASE WHEN id=? THEN 0 ELSE 1 END,
3997
+ CASE lower(status)
3998
+ WHEN 'online' THEN 0 WHEN 'running' THEN 1
3999
+ WHEN 'detecting' THEN 2 WHEN 'connecting' THEN 3
4000
+ ELSE 4 END,
4001
+ last_heartbeat DESC, enrolled_at DESC, created_at DESC
4002
+ LIMIT 1""",
3988
4003
  (robot_id, robot_id, robot_id),
3989
4004
  ) as cursor:
3990
4005
  device = await cursor.fetchone()
@@ -4131,6 +4146,22 @@ async def test_robot_motor(robot_id: str, motor_id: str, duration_ms: int = 300)
4131
4146
  })
4132
4147
  return {"queued": True, "request_id": request_id, "device_id": model.id}
4133
4148
 
4149
+ @app.post("/api/robots/{robot_id}/motors/discover")
4150
+ async def discover_robot_motors(robot_id: str):
4151
+ """Import relays already registered by the robot-local motor server.
4152
+
4153
+ This is read-only on the robot. It never scans or pulses unregistered GPIO.
4154
+ The dashboard validates and persists the returned registry before testing.
4155
+ """
4156
+ device = await _resolve_device_by_id_or_name(robot_id)
4157
+ model = _device_row_to_model(device)
4158
+ if not model.motor_server_url:
4159
+ raise HTTPException(409, "Robot has no motor_server_url")
4160
+ request_id = await _queue_shell_request_async(model.id, "motor_discover", "motor_server", {
4161
+ "motor_server_url": model.motor_server_url,
4162
+ })
4163
+ return {"queued": True, "request_id": request_id, "device_id": model.id}
4164
+
4134
4165
  @app.post("/api/robots/{robot_id}/motors/test-all")
4135
4166
  async def test_all_robot_motors(robot_id: str, duration_ms: int = 300, pause_ms: int = 200):
4136
4167
  device = await _resolve_device_by_id_or_name(robot_id)
package/packages/robopark/scheduler/preview_agent.py CHANGED
@@ -426,8 +426,8 @@ async def _bootstrap_mesh_device(scheduler_url: str, robot_id: str) -> tuple[str
426
426
  return device_id, device_token
427
427
 
428
428
 
429
- async def _enroll(scheduler_url: str, enrollment_token: str, robot_id: str) -> str:
430
- """Enroll this Pi with the scheduler and return the device token."""
429
+ async def _enroll(scheduler_url: str, enrollment_token: str, robot_id: str) -> tuple[str, str]:
430
+ """Enroll this Pi and return the exact scheduler identity and token."""
431
431
  import socket
432
432
  payload = {
433
433
  "enrollment_token": enrollment_token,
@@ -443,16 +443,17 @@ async def _enroll(scheduler_url: str, enrollment_token: str, robot_id: str) -> s
443
443
  )
444
444
  r.raise_for_status()
445
445
  data = r.json()
446
- device_token = data.get("device_token")
447
- if not device_token:
448
- raise RuntimeError("enrollment did not return a device_token")
446
+ device_id = str(data.get("device_id") or "").strip()
447
+ device_token = str(data.get("device_token") or "").strip()
448
+ if not device_id or not device_token:
449
+ raise RuntimeError("enrollment did not return device credentials")
449
450
  _save_token(device_token)
450
451
  cfg = _load_config()
451
- cfg["device_id"] = data.get("device_id")
452
+ cfg["device_id"] = device_id
452
453
  cfg["scheduler_url"] = data.get("scheduler_url", scheduler_url)
453
454
  _save_config(cfg)
454
- logger.info(f"enrolled as device {data.get('device_id')}")
455
- return device_token
455
+ logger.info("enrolled as device %s", device_id)
456
+ return device_id, device_token
456
457
 
457
458
 
458
459
  def _get_lan_ip() -> Optional[str]:
@@ -629,11 +630,16 @@ class PreviewAgent:
629
630
 
630
631
  async def run(self) -> None:
631
632
  enrollment_token = os.getenv("ENROLLMENT_TOKEN") or self.enrollment_token
632
- if _mesh_proxy_headers():
633
- await self._ensure_mesh_identity()
634
-
633
+ # A UI-minted token identifies a specific pre-created device row.
634
+ # Consume it before generic mesh recovery so heartbeats cannot bind to
635
+ # a stale same-name identity.
635
636
  if not self.device_token and enrollment_token:
636
- self.device_token = await _enroll(self.scheduler_url, enrollment_token, self.robot_id)
637
+ self.device_id, self.device_token = await _enroll(
638
+ self.scheduler_url, enrollment_token, self.robot_id
639
+ )
640
+ self._mesh_bootstrap_ready = True
641
+ elif _mesh_proxy_headers():
642
+ await self._ensure_mesh_identity()
637
643
 
638
644
  if not self.device_token:
639
645
  logger.error("no DEVICE_TOKEN and no ENROLLMENT_TOKEN; cannot poll scheduler")
package/packages/robopark/scheduler/robot_supervisor.py CHANGED
@@ -427,6 +427,8 @@ def _handle_shell_command(identity, cmd: dict) -> None:
427
427
  result = _run_shell_command(params.get("name", ""), params)
428
428
  elif kind == "speaker_test":
429
429
  result = _speaker_roundtrip_test(params)
430
+ elif kind == "motor_discover":
431
+ result = _discover_motor_registry(params)
430
432
  elif kind == "motor_sequence":
431
433
  result = _run_motor_sequence(params)
432
434
  else:
@@ -434,6 +436,45 @@ def _handle_shell_command(identity, cmd: dict) -> None:
434
436
  _post_supervisor_output(identity, kind, service, result, request_id)
435
437
 
436
438
 
439
+ def _discover_motor_registry(params: dict) -> dict:
440
+ """Read the robot-local motor registry without touching any GPIO output."""
441
+ import httpx
442
+ import re
443
+
444
+ base = str(params.get("motor_server_url") or "http://127.0.0.1:8001").rstrip("/")
445
+ if not (base.startswith("http://127.0.0.1:") or base.startswith("http://localhost:")):
446
+ return {"ok": False, "error": "motor server must be robot-local"}
447
+ try:
448
+ with httpx.Client(timeout=5.0) as client:
449
+ response = client.get(f"{base}/list-motors")
450
+ response.raise_for_status()
451
+ raw_motors = response.json().get("motors", [])
452
+ registry, used_ids, used_gpios = [], set(), set()
453
+ for index, raw in enumerate(raw_motors[:32]):
454
+ gpio = int(raw.get("gpio", -1))
455
+ if gpio < 2 or gpio > 27 or gpio in used_gpios:
456
+ continue
457
+ name = str(raw.get("name") or f"Relay {index + 1}").strip()[:60]
458
+ base_id = re.sub(r"[^a-z0-9_-]+", "-", name.lower()).strip("-") or f"relay-{index + 1}"
459
+ motor_id, suffix = base_id[:32], 2
460
+ while motor_id in used_ids:
461
+ tail = f"-{suffix}"
462
+ motor_id = f"{base_id[:32-len(tail)]}{tail}"
463
+ suffix += 1
464
+ used_ids.add(motor_id)
465
+ used_gpios.add(gpio)
466
+ registry.append({
467
+ "id": motor_id,
468
+ "name": name,
469
+ "gpio": gpio,
470
+ "active_high": bool(raw.get("active_high", True)),
471
+ "max_duration_ms": 3000,
472
+ })
473
+ return {"ok": True, "registry": registry, "count": len(registry), "motor_server_url": base}
474
+ except Exception as exc:
475
+ return {"ok": False, "error": f"motor registry discovery failed: {type(exc).__name__}: {exc}"}
476
+
477
+
437
478
  def _run_motor_sequence(params: dict) -> dict:
438
479
  """Run one validated scheduler sequence against the robot-local motor API."""
439
480
  import httpx
@@ -444,6 +485,7 @@ def _run_motor_sequence(params: dict) -> dict:
444
485
  steps = params.get("steps") or []
445
486
  started = time.monotonic()
446
487
  completed = []
488
+ gpio_log = []
447
489
  try:
448
490
  with httpx.Client(timeout=8.0) as client:
449
491
  existing = client.get(f"{base}/list-motors").json().get("motors", [])
@@ -463,8 +505,22 @@ def _run_motor_sequence(params: dict) -> dict:
463
505
  })
464
506
  response.raise_for_status()
465
507
  deadline = time.monotonic() + len(registry) * ((duration_ms + pause_ms) / 1000.0) + 3.0
508
+ last_test_action = None
466
509
  while time.monotonic() < deadline:
467
510
  status = client.get(f"{base}/status").json()
511
+ action = str(status.get("last_action") or "")
512
+ if action.startswith("test:gpio:") and action != last_test_action:
513
+ try:
514
+ observed_gpio = int(action.rsplit(":", 1)[-1])
515
+ except ValueError:
516
+ observed_gpio = -1
517
+ if observed_gpio >= 2:
518
+ gpio_log.append({
519
+ "gpio": observed_gpio,
520
+ "status": "active_observed",
521
+ "elapsed_ms": int((time.monotonic() - started) * 1000),
522
+ })
523
+ last_test_action = action
468
524
  if status.get("status") == "idle":
469
525
  if status.get("error"):
470
526
  raise RuntimeError(f"registered GPIO test failed: {status['error']}")
@@ -497,15 +553,17 @@ def _run_motor_sequence(params: dict) -> dict:
497
553
  time.sleep(0.05)
498
554
  else:
499
555
  raise TimeoutError(f"motor {motor_id} did not return to idle")
500
- completed.append({"motor_id": motor_id, "duration_ms": duration_ms})
556
+ completed.append({"motor_id": motor_id, "gpio": int(motor["gpio"]), "duration_ms": duration_ms})
501
557
  except Exception as exc:
502
558
  try:
503
559
  httpx.post(f"{base}/stop-motors", json={}, timeout=3.0)
504
560
  except Exception:
505
561
  pass
506
562
  return {"ok": False, "error": f"{type(exc).__name__}: {exc}", "completed_steps": completed,
563
+ "gpio_log": gpio_log,
507
564
  "duration_ms": int((time.monotonic() - started) * 1000), "session_id": params.get("session_id")}
508
565
  return {"ok": True, "pass": True, "sequence_id": params.get("sequence_id"), "completed_steps": completed,
566
+ "gpio_log": gpio_log,
509
567
  "duration_ms": int((time.monotonic() - started) * 1000), "motor_server_url": base,
510
568
  "session_id": params.get("session_id")}
511
569