infinicode 2.8.104 → 2.8.106

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Files changed (7) hide show
  1. package/dist/kernel/federation/dashboard-html.d.ts +1 -1
  2. package/dist/kernel/federation/dashboard-html.js +51 -25
  3. package/docs/ROBOPARK_PRODUCTION_MEMORY.md +25 -1
  4. package/package.json +1 -1
  5. package/packages/robopark/scheduler/main.py +17 -2
  6. package/packages/robopark/scheduler/preview_agent.py +18 -12
  7. package/packages/robopark/scheduler/robot_supervisor.py +18 -1
package/dist/kernel/federation/dashboard-html.js CHANGED
@@ -26,7 +26,7 @@ export const DASHBOARD_HTML = `<!doctype html>
26
26
  <head>
27
27
  <meta charset="utf-8">
28
28
  <meta name="viewport" content="width=device-width, initial-scale=1">
29
- <meta name="robopark-ui-build" content="provisioning-token-20260717-1">
29
+ <meta name="robopark-ui-build" content="provisioning-command-20260717-2">
30
30
  <title>RoboPark Control</title>
31
31
  <style>
32
32
  /* ── premium tech glass theme ── dark is the committed default; light is a frosted toggle ── */
@@ -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)
1269
+ function schedulerDeviceScore(device){
1270
+ if(!device) return -1;
1271
+ var status=String(device.status||'').trim().toLowerCase();
1272
+ var heartbeat=Date.parse(device.last_heartbeat||'');
1273
+ var enrolled=Date.parse(device.enrolled_at||device.created_at||'');
1274
+ 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)
1270
1282
  var FALLBACK_SLOTS = [
1271
1283
  {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
1744
  // 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;
@@ -2275,8 +2281,22 @@ button.act:disabled{opacity:0.5;cursor:default;}
2275
2281
  argv.push('--token', meshToken);
2276
2282
  if(schedulerUrl) argv.push('--scheduler-url', schedulerUrl);
2277
2283
  argv.push(network==='tailscale'?'--tailscale':'--lan','--start','--auto-start','--yes');
2278
- return argv.map(function(a){ return /[^a-zA-Z0-9_./:=,-]/.test(a) ? '"'+a.replace(/"/g,'\\"')+'"' : a; }).join(' ');
2279
- }
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
+ }
2280
2300
  function refreshRobotCliCommand(){
2281
2301
  var name=$('rb-name').value.trim(); var cid=$('rb-char').value||'';
2282
2302
  var row=$('rb-clicmd-row'), inp=$('rb-clicmd');
@@ -6881,11 +6901,14 @@ button.act:disabled{opacity:0.5;cursor:default;}
6881
6901
  livekit_url:$('pk-setup-lk').value.trim()||null,
6882
6902
  video_device:'auto', audio_device:'default'
6883
6903
  };
6884
- rpAction('POST','/robopark/api/devices',body).then(function(j){
6885
- var token=(j&&j.enrollment_token)||'';
6886
- $('pk-setup-token').value=token;
6887
- $('pk-setup-result').style.display='block';
6888
- 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));
6889
6912
  pollRoboparkQuiet();
6890
6913
  }).catch(function(e){ showOut('pad setup ('+esc(n.label)+'): '+e.message); });
6891
6914
  }
@@ -7017,14 +7040,17 @@ button.act:disabled{opacity:0.5;cursor:default;}
7017
7040
  function schedulerDevice(n){
7018
7041
  // Deliberately does not call schedRow: telemetry can contain a legacy
7019
7042
  // robot name, while this lookup must choose the current enrolled device.
7043
+ var candidates=[];
7020
7044
  var ids=[n.schedulerDeviceId,n.schedulerRobotId,n.id,n.nodeId];
7021
- 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]]);
7022
7046
  var names=[n.name,n.displayName,n.label];
7023
7047
  for(var j=0;j<names.length;j++){
7024
7048
  var key=String(names[j]||'').toLowerCase();
7025
- if(key&&schedulerDevicesByName[key]) return schedulerDevicesByName[key];
7049
+ if(key&&schedulerDevicesByName[key]) candidates.push(schedulerDevicesByName[key]);
7026
7050
  }
7027
- 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;
7028
7054
  }
7029
7055
  function deviceList(inv, key, fallback){
7030
7056
  var list=inv&&Array.isArray(inv[key])?inv[key]:[];
@@ -7423,7 +7449,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
7423
7449
  + '<div class="rp-field"><label>Robot name</label><input id="pk-setup-name" value="'+esc(defaultName)+'"></div>'
7424
7450
  + '<div class="rp-field"><label>Character preset</label><select id="pk-setup-char"><option value="">— auto —</option>'+presetOptions+'</select></div>'
7425
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>'
7426
- + '<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>'
7427
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>'
7428
7454
  + '<details class="rp-advanced"><summary>Advanced — pre-set network/voice config</summary>'
7429
7455
  + '<div class="rp-advanced-grid">'
@@ -7437,10 +7463,10 @@ button.act:disabled{opacity:0.5;cursor:default;}
7437
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>');
7438
7464
  var setupBtn=$('pk-setup-btn'); if(setupBtn) setupBtn.addEventListener('click', function(){ submitPadSetup(n); });
7439
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'); } });
7440
- function refreshPadCliCommand(){
7441
- var nm=$('pk-setup-name').value.trim()||defaultName; var cid=$('pk-setup-char').value||n.id;
7442
- var el=$('pk-setup-clicmd'); if(el) el.value=buildAddRobotCommand(nm, cid);
7443
- }
7466
+ function refreshPadCliCommand(){
7467
+ var nm=$('pk-setup-name').value.trim()||defaultName; var cid=$('pk-setup-char').value||n.id;
7468
+ var el=$('pk-setup-clicmd'),label=$('pk-setup-clicmd-label');if(el)el.value=buildPadRobotCommand(nm,cid,'');if(label)label.textContent='or run this ON THE ROBOT (mints its own token)';
7469
+ }
7444
7470
  var padNameEl=$('pk-setup-name'); if(padNameEl) padNameEl.addEventListener('input', refreshPadCliCommand);
7445
7471
  var padCharEl=$('pk-setup-char'); if(padCharEl) padCharEl.addEventListener('change', refreshPadCliCommand);
7446
7472
  var padCliCopy=$('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'); });
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": "2.8.104",
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()
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
@@ -485,6 +485,7 @@ def _run_motor_sequence(params: dict) -> dict:
485
485
  steps = params.get("steps") or []
486
486
  started = time.monotonic()
487
487
  completed = []
488
+ gpio_log = []
488
489
  try:
489
490
  with httpx.Client(timeout=8.0) as client:
490
491
  existing = client.get(f"{base}/list-motors").json().get("motors", [])
@@ -504,8 +505,22 @@ def _run_motor_sequence(params: dict) -> dict:
504
505
  })
505
506
  response.raise_for_status()
506
507
  deadline = time.monotonic() + len(registry) * ((duration_ms + pause_ms) / 1000.0) + 3.0
508
+ last_test_action = None
507
509
  while time.monotonic() < deadline:
508
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
509
524
  if status.get("status") == "idle":
510
525
  if status.get("error"):
511
526
  raise RuntimeError(f"registered GPIO test failed: {status['error']}")
@@ -538,15 +553,17 @@ def _run_motor_sequence(params: dict) -> dict:
538
553
  time.sleep(0.05)
539
554
  else:
540
555
  raise TimeoutError(f"motor {motor_id} did not return to idle")
541
- 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})
542
557
  except Exception as exc:
543
558
  try:
544
559
  httpx.post(f"{base}/stop-motors", json={}, timeout=3.0)
545
560
  except Exception:
546
561
  pass
547
562
  return {"ok": False, "error": f"{type(exc).__name__}: {exc}", "completed_steps": completed,
563
+ "gpio_log": gpio_log,
548
564
  "duration_ms": int((time.monotonic() - started) * 1000), "session_id": params.get("session_id")}
549
565
  return {"ok": True, "pass": True, "sequence_id": params.get("sequence_id"), "completed_steps": completed,
566
+ "gpio_log": gpio_log,
550
567
  "duration_ms": int((time.monotonic() - started) * 1000), "motor_server_url": base,
551
568
  "session_id": params.get("session_id")}
552
569