npm - infinicode - Versions diffs - 2.8.104 → 2.8.107 - Mend

infinicode 2.8.104 → 2.8.107

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (7) hide show

package/dist/kernel/federation/dashboard-html.d.ts +1 -1
package/dist/kernel/federation/dashboard-html.js +59 -27
package/docs/ROBOPARK_PRODUCTION_MEMORY.md +25 -1
package/package.json +1 -1
package/packages/robopark/scheduler/main.py +17 -2
package/packages/robopark/scheduler/preview_agent.py +28 -12
package/packages/robopark/scheduler/robot_supervisor.py +18 -1

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

@@ -26,7 +26,7 @@ export const DASHBOARD_HTML = `<!doctype html>
 <head>
 <meta charset="utf-8">
 <meta name="viewport" content="width=device-width, initial-scale=1">
-<meta name="robopark-ui-build" content="provisioning-token-20260717-1">
+<meta name="robopark-ui-build" content="provisioning-command-20260717-2">
 <title>RoboPark Control</title>
 <style>
 /* ── premium tech glass theme ── dark is the committed default; light is a frosted toggle ── */
@@ -1264,8 +1264,24 @@ button.act:disabled{opacity:0.5;cursor:default;}
   var lastFedStatusAt = 0;         // updated by poll() on every successful /fed/status fetch
   var lastStatus = null;               // most recent /fed/status snapshot (shared with Park)
   var roboparkByName = {};             // robot_id -> latest telemetry row (shared with Park drawer)
-  var schedulerDevicesById = {};       // enrolled device rows + camera/audio inventory
-  var schedulerDevicesByName = {};     // same rows, keyed by device name (id != name, e.g. dev_8984a80e vs jaguar2)
+  var schedulerDevicesById = {};       // enrolled device rows + camera/audio inventory
+  var schedulerDevicesByName = {};     // same rows, keyed by device name (id != name, e.g. dev_8984a80e vs jaguar2)
+  function schedulerDeviceScore(device){
+    if(!device) return -1;
+    var status=String(device.status||'').trim().toLowerCase();
+    var heartbeat=Date.parse(device.last_heartbeat||'');
+    var enrolled=Date.parse(device.enrolled_at||device.created_at||'');
+    var fresh=Number.isFinite(heartbeat)&&(Date.now()-heartbeat)<45000;
+    var score=fresh?1000000000000000:0;
+    if(status==='online'||status==='running'||status==='detecting'||status==='connecting') score+=1000000000000;
+    if(Number.isFinite(heartbeat)) score+=heartbeat;
+    else if(Number.isFinite(enrolled)) score+=enrolled;
+    return score;
+  }
+  function schedulerHeartbeatFresh(device){
+    var heartbeat=Date.parse(device&&device.last_heartbeat||'');
+    return Number.isFinite(heartbeat)&&(Date.now()-heartbeat)<45000;
+  }
   var voiceStacks = [];                // scheduler voice stacks (shared with setup forms + templates)
   var FALLBACK_SLOTS = [
     {label:'VOLT',    id:'volt',    keys:['volt'],           nx:0.18, ny:0.26, img:'/static/robopark/volt.png'},
@@ -1732,17 +1748,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
       // A stale re-enrollment can leave more than one row with the same
       // display name. Keep the live/fresh device, never whichever SQLite
       // happened to return last, because all operator routes are id-keyed.
-      function deviceScore(device){
-        var status=norm(device&&device.status), at=Date.parse(device&&device.last_heartbeat||''), score=0;
-        if(status==='online'||status==='running'||status==='detecting'||status==='connecting') score+=10000;
-        if(Number.isFinite(at)) score+=Math.max(0, Math.floor(at/1000));
-        return score;
-      }
       (Array.isArray(devices)?devices:[]).forEach(function(device){
         deviceById[device.id] = device;
         if(device.name){
           var key=norm(device.name), current=deviceByName[key];
-          if(!current || deviceScore(device)>deviceScore(current)) deviceByName[key] = device;
+          if(!current || schedulerDeviceScore(device)>schedulerDeviceScore(current)) deviceByName[key] = device;
         }
       });
       schedulerDevicesById = deviceById;
@@ -2275,8 +2285,22 @@ button.act:disabled{opacity:0.5;cursor:default;}
     argv.push('--token', meshToken);
     if(schedulerUrl) argv.push('--scheduler-url', schedulerUrl);
     argv.push(network==='tailscale'?'--tailscale':'--lan','--start','--auto-start','--yes');
-    return argv.map(function(a){ return /[^a-zA-Z0-9_./:=,-]/.test(a) ? '"'+a.replace(/"/g,'\\"')+'"' : a; }).join(' ');
-  }
+    return argv.map(function(a){ return /[^a-zA-Z0-9_./:=,-]/.test(a) ? '"'+a.replace(/"/g,'\\"')+'"' : a; }).join(' ');
+  }
+  function buildPadRobotCommand(name,characterId,enrollmentToken){
+    var env=rpCommandEnv(),hubHost=env.lan||'192.168.0.9';
+    var hubUrl=/^https?:\/\//i.test(hubHost)?hubHost.replace(/\\\/+$/,''):'http://'+hubHost.replace(/\\\/+$/,'')+':47913';
+    var meshToken=env.token||dashboardMeshToken()||'<mesh-token>',site=env.site||'Tel Aviv';
+    var argv;
+    if(enrollmentToken){
+      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'];
+    }else{
+      argv=['robopark','add-robot',name];
+      if(characterId)argv.push('--character',characterId);
+      argv.push('--site',site,'--hub-url',hubUrl,'--token',meshToken,'--scheduler-url',hubUrl+'/robopark','--lan','--start','--auto-start','--yes');
+    }
+    return argv.map(function(a){return /[^a-zA-Z0-9_./:=,-]/.test(a)?'"'+String(a).replace(/"/g,'\\"')+'"':String(a);}).join(' ');
+  }
   function refreshRobotCliCommand(){
     var name=$('rb-name').value.trim(); var cid=$('rb-char').value||'';
     var row=$('rb-clicmd-row'), inp=$('rb-clicmd');
@@ -6809,7 +6833,8 @@ button.act:disabled{opacity:0.5;cursor:default;}
       }
       $('pk-name').textContent=n.label||n.name;
       $('pk-sub').textContent = n.connected ? (n.name+' · '+(n.platform||'?')+' · v'+n.version+(n.site?(' · '+n.site):'')) : 'pad reserved · not joined';
-      var st=$('pk-state'); st.textContent=n.connected?'live':'offline'; st.className='pk-pill '+(n.connected?'live':'idle');
+      var initialDevice=schedulerDevice(n),initialHeartbeat=schedulerHeartbeatFresh(initialDevice);
+      var st=$('pk-state'); st.textContent=initialHeartbeat?'live':(n.connected?'mesh only':'offline'); st.className='pk-pill '+(initialHeartbeat?'live':'idle');
       buildDrawer(n);
       pollRoboparkQuiet();   // fill session telemetry right away instead of waiting for the tick
       if(drawerTimer) clearInterval(drawerTimer);
@@ -6881,11 +6906,14 @@ button.act:disabled{opacity:0.5;cursor:default;}
         livekit_url:$('pk-setup-lk').value.trim()||null,
         video_device:'auto', audio_device:'default'
       };
-      rpAction('POST','/robopark/api/devices',body).then(function(j){
-        var token=(j&&j.enrollment_token)||'';
-        $('pk-setup-token').value=token;
-        $('pk-setup-result').style.display='block';
-        showOut('robot added: '+esc((j&&j.name)||name)+'\\ntoken: '+esc(token));
+      rpAction('POST','/robopark/api/devices',body).then(function(j){
+        var token=(j&&j.enrollment_token)||'';
+        $('pk-setup-token').value=token;
+        $('pk-setup-result').style.display='block';
+        var command=$('pk-setup-clicmd'),label=$('pk-setup-clicmd-label');
+        if(command)command.value=buildPadRobotCommand(name,body.character_id||n.id,token);
+        if(label)label.textContent='run this ON THE ROBOT (uses the token minted above)';
+        showOut('robot added: '+esc((j&&j.name)||name)+'\\ntoken: '+esc(token));
         pollRoboparkQuiet();
       }).catch(function(e){ showOut('pad setup ('+esc(n.label)+'): '+e.message); });
     }
@@ -7017,14 +7045,17 @@ button.act:disabled{opacity:0.5;cursor:default;}
     function schedulerDevice(n){
       // Deliberately does not call schedRow: telemetry can contain a legacy
       // robot name, while this lookup must choose the current enrolled device.
+      var candidates=[];
       var ids=[n.schedulerDeviceId,n.schedulerRobotId,n.id,n.nodeId];
-      for(var i=0;i<ids.length;i++) if(ids[i]&&schedulerDevicesById[ids[i]]) return schedulerDevicesById[ids[i]];
+      for(var i=0;i<ids.length;i++) if(ids[i]&&schedulerDevicesById[ids[i]]) candidates.push(schedulerDevicesById[ids[i]]);
       var names=[n.name,n.displayName,n.label];
       for(var j=0;j<names.length;j++){
         var key=String(names[j]||'').toLowerCase();
-        if(key&&schedulerDevicesByName[key]) return schedulerDevicesByName[key];
+        if(key&&schedulerDevicesByName[key]) candidates.push(schedulerDevicesByName[key]);
       }
-      return null;
+      candidates=candidates.filter(function(device,index,list){return device&&list.indexOf(device)===index;});
+      candidates.sort(function(a,b){return schedulerDeviceScore(b)-schedulerDeviceScore(a);});
+      return candidates[0]||null;
     }
     function deviceList(inv, key, fallback){
       var list=inv&&Array.isArray(inv[key])?inv[key]:[];
@@ -7423,7 +7454,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
           + '<div class="rp-field"><label>Robot name</label><input id="pk-setup-name" value="'+esc(defaultName)+'"></div>'
           + '<div class="rp-field"><label>Character preset</label><select id="pk-setup-char"><option value="">— auto —</option>'+presetOptions+'</select></div>'
           + '<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>'
-          + '<div class="rp-field"><label>or run this ON THE ROBOT (mints its own token)</label><input id="pk-setup-clicmd" readonly></div>'
+          + '<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>'
           + '<div class="rp-quickrow" style="padding:0;"><button class="rp-btn" id="pk-setup-clicmd-copy" style="width:fit-content;">📋 Copy command</button></div>'
           + '<details class="rp-advanced"><summary>Advanced — pre-set network/voice config</summary>'
           + '<div class="rp-advanced-grid">'
@@ -7437,10 +7468,10 @@ button.act:disabled{opacity:0.5;cursor:default;}
           + '<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>');
         var setupBtn=$('pk-setup-btn'); if(setupBtn) setupBtn.addEventListener('click', function(){ submitPadSetup(n); });
         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'); } });
-        function refreshPadCliCommand(){
-          var nm=$('pk-setup-name').value.trim()||defaultName; var cid=$('pk-setup-char').value||n.id;
-          var el=$('pk-setup-clicmd'); if(el) el.value=buildAddRobotCommand(nm, cid);
-        }
+        function refreshPadCliCommand(){
+          var nm=$('pk-setup-name').value.trim()||defaultName; var cid=$('pk-setup-char').value||n.id;
+          var el=$('pk-setup-clicmd'),label=$('pk-setup-clicmd-label');if(el)el.value=buildPadRobotCommand(nm,cid,'');if(label)label.textContent='or run this ON THE ROBOT (mints its own token)';
+        }
         var padNameEl=$('pk-setup-name'); if(padNameEl) padNameEl.addEventListener('input', refreshPadCliCommand);
         var padCharEl=$('pk-setup-char'); if(padCharEl) padCharEl.addEventListener('change', refreshPadCliCommand);
         var padCliCopy=$('pk-setup-clicmd-copy'); if(padCliCopy) padCliCopy.addEventListener('click', function(){ var i=$('pk-setup-clicmd'); i.select(); try{document.execCommand('copy');}catch(e){} showOut('command copied — run it on the robot itself'); });
@@ -7808,7 +7839,8 @@ button.act:disabled{opacity:0.5;cursor:default;}
         set('pk-tv-lat', row.avg_latency_ms!=null?Math.round(row.avg_latency_ms)+'ms':'—');
         var dEl=$('pk-tv-drop'); if(dEl){ var d=row.drop_rate!=null?Math.round(row.drop_rate*100):null; dEl.textContent=d!=null?d+'%':'—'; dEl.className='v '+(d>=20?'bad':d>=5?'warn':'ok'); }
         var active=row.active_session||row.in_session||row.session_active||row.current_session_id||row.status==='connecting'||row.status==='running';
-        var st=$('pk-state'); if(st){ st.textContent=active?'in session':(n.connected?'live':'idle'); st.className='pk-pill '+(active?'live':(n.connected?'live':'idle')); }
+        var heartbeatLive=schedulerHeartbeatFresh(schedulerDevice(n));
+        var st=$('pk-state'); if(st){ st.textContent=active?'in session':(heartbeatLive?'live':(n.connected?'mesh only':'offline')); st.className='pk-pill '+(active||heartbeatLive?'live':'idle'); }
       }
     }
     function set(id,v){ var e=$(id); if(e) e.textContent=v; }

package/docs/ROBOPARK_PRODUCTION_MEMORY.md CHANGED Viewed

@@ -1,6 +1,6 @@
 # RoboPark Production Memory
-Last verified: 2026-07-16
+Last verified: 2026-07-17
 This records production facts future operators and coding agents must
 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.
 - Robots publish camera and microphone tracks to LiveKit. Park camera preview
   uses the RoboVision relay rather than LiveKit video.
+## Production Robot Network Boundary
+- All onsite production robots, including RoboPanda and BMW/VIXEN, are LAN
+  satellites of `livekit-1`. They are not expected to be directly reachable
+  from the development laptop, even when the laptop can reach `livekit-1`
+  through Tailscale.
+- RoboPanda is reachable only through the `livekit-1` LAN mesh. A missing Panda
+  node in the development laptop's direct peer list does not by itself prove
+  Panda is offline; inspect it from `livekit-1` and through the scheduler.
+- Route robot commands, spawned agents, supervisor shell requests, camera
+  relays, media tests, and production diagnostics through `livekit-1`. Do not
+  substitute direct SSH or a development-laptop LAN route.
+- The control path is: operator -> Tailscale/mesh -> `livekit-1:47913` ->
+  scheduler proxy `/robopark` -> robot heartbeat/supervisor on the onsite LAN.
+  The camera path is: browser -> authenticated `livekit-1` RoboVision mesh
+  relay -> robot-local RoboVision service.
+- `livekit-1` currently advertises LAN IPv4 `192.168.0.9`; verify it on the hub
+  before generating commands because DHCP may change it. Never use the
+  development laptop's LAN address as a robot hub address.
+- When a robot reports a stale heartbeat, diagnose from `livekit-1` first:
+  scheduler enrollment row, hub-side mesh membership, robot heartbeat, then
+  robot-local runtime logs. Camera troubleshooting starts only after heartbeat
+  and mesh connectivity are healthy.
 ## BMW Launch Device Lock
 - Camera: `/dev/video0` (`H65 USB CAMERA`).

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.104",
+  "version": "2.8.107",
   "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 CHANGED Viewed

@@ -2671,7 +2671,15 @@ async def list_devices():
     """List all enrolled Pi devices."""
     async with aiosqlite.connect(DB_PATH) as db:
         db.row_factory = aiosqlite.Row
-        async with db.execute("SELECT * FROM devices ORDER BY name") as cursor:
+        async with db.execute(
+            """SELECT * FROM devices
+               ORDER BY lower(name),
+                        CASE lower(status)
+                          WHEN 'online' THEN 0 WHEN 'running' THEN 1
+                          WHEN 'detecting' THEN 2 WHEN 'connecting' THEN 3
+                          ELSE 4 END,
+                        last_heartbeat DESC, enrolled_at DESC, created_at DESC"""
+        ) as cursor:
             return [_device_row_to_model(r) for r in await cursor.fetchall()]
 @app.get("/api/devices/by-room/{room_name}")
@@ -3984,7 +3992,14 @@ async def _resolve_device_by_id_or_name(robot_id: str):
     async with aiosqlite.connect(DB_PATH) as db:
         db.row_factory = aiosqlite.Row
         async with db.execute(
-            "SELECT * FROM devices WHERE id=? OR lower(name)=lower(?) ORDER BY CASE WHEN id=? THEN 0 ELSE 1 END LIMIT 1",
+            """SELECT * FROM devices WHERE id=? OR lower(name)=lower(?)
+               ORDER BY CASE WHEN id=? THEN 0 ELSE 1 END,
+                        CASE lower(status)
+                          WHEN 'online' THEN 0 WHEN 'running' THEN 1
+                          WHEN 'detecting' THEN 2 WHEN 'connecting' THEN 3
+                          ELSE 4 END,
+                        last_heartbeat DESC, enrolled_at DESC, created_at DESC
+               LIMIT 1""",
             (robot_id, robot_id, robot_id),
         ) as cursor:
             device = await cursor.fetchone()

package/packages/robopark/scheduler/preview_agent.py CHANGED Viewed

@@ -426,8 +426,8 @@ async def _bootstrap_mesh_device(scheduler_url: str, robot_id: str) -> tuple[str
     return device_id, device_token
-async def _enroll(scheduler_url: str, enrollment_token: str, robot_id: str) -> str:
-    """Enroll this Pi with the scheduler and return the device token."""
+async def _enroll(scheduler_url: str, enrollment_token: str, robot_id: str) -> tuple[str, str]:
+    """Enroll this Pi and return the exact scheduler identity and token."""
     import socket
     payload = {
         "enrollment_token": enrollment_token,
@@ -443,16 +443,17 @@ async def _enroll(scheduler_url: str, enrollment_token: str, robot_id: str) -> s
         )
         r.raise_for_status()
         data = r.json()
-    device_token = data.get("device_token")
-    if not device_token:
-        raise RuntimeError("enrollment did not return a device_token")
+    device_id = str(data.get("device_id") or "").strip()
+    device_token = str(data.get("device_token") or "").strip()
+    if not device_id or not device_token:
+        raise RuntimeError("enrollment did not return device credentials")
     _save_token(device_token)
     cfg = _load_config()
-    cfg["device_id"] = data.get("device_id")
+    cfg["device_id"] = device_id
     cfg["scheduler_url"] = data.get("scheduler_url", scheduler_url)
     _save_config(cfg)
-    logger.info(f"enrolled as device {data.get('device_id')}")
-    return device_token
+    logger.info("enrolled as device %s", device_id)
+    return device_id, device_token
 def _get_lan_ip() -> Optional[str]:
@@ -629,11 +630,26 @@ class PreviewAgent:
     async def run(self) -> None:
         enrollment_token = os.getenv("ENROLLMENT_TOKEN") or self.enrollment_token
-        if _mesh_proxy_headers():
-            await self._ensure_mesh_identity()
+        # A UI-minted token identifies a specific pre-created device row.
+        # Consume it before generic mesh recovery so heartbeats cannot bind to
+        # a stale same-name identity.
         if not self.device_token and enrollment_token:
-            self.device_token = await _enroll(self.scheduler_url, enrollment_token, self.robot_id)
+            try:
+                self.device_id, self.device_token = await _enroll(
+                    self.scheduler_url, enrollment_token, self.robot_id
+                )
+                self._mesh_bootstrap_ready = True
+            except Exception as exc:
+                if not _mesh_proxy_headers():
+                    raise
+                # Enrollment tokens are intentionally one-time. A service
+                # reinstall can retain the original systemd argument after
+                # its credential file was removed; recover through the hub's
+                # authenticated mesh path rather than crash-loop forever.
+                logger.warning("device enrollment failed; recovering through mesh bootstrap: %s", exc)
+                await self._ensure_mesh_identity()
+        elif _mesh_proxy_headers():
+            await self._ensure_mesh_identity()
         if not self.device_token:
             logger.error("no DEVICE_TOKEN and no ENROLLMENT_TOKEN; cannot poll scheduler")

package/packages/robopark/scheduler/robot_supervisor.py CHANGED Viewed

@@ -485,6 +485,7 @@ def _run_motor_sequence(params: dict) -> dict:
     steps = params.get("steps") or []
     started = time.monotonic()
     completed = []
+    gpio_log = []
     try:
         with httpx.Client(timeout=8.0) as client:
             existing = client.get(f"{base}/list-motors").json().get("motors", [])
@@ -504,8 +505,22 @@ def _run_motor_sequence(params: dict) -> dict:
                 })
                 response.raise_for_status()
                 deadline = time.monotonic() + len(registry) * ((duration_ms + pause_ms) / 1000.0) + 3.0
+                last_test_action = None
                 while time.monotonic() < deadline:
                     status = client.get(f"{base}/status").json()
+                    action = str(status.get("last_action") or "")
+                    if action.startswith("test:gpio:") and action != last_test_action:
+                        try:
+                            observed_gpio = int(action.rsplit(":", 1)[-1])
+                        except ValueError:
+                            observed_gpio = -1
+                        if observed_gpio >= 2:
+                            gpio_log.append({
+                                "gpio": observed_gpio,
+                                "status": "active_observed",
+                                "elapsed_ms": int((time.monotonic() - started) * 1000),
+                            })
+                        last_test_action = action
                     if status.get("status") == "idle":
                         if status.get("error"):
                             raise RuntimeError(f"registered GPIO test failed: {status['error']}")
@@ -538,15 +553,17 @@ def _run_motor_sequence(params: dict) -> dict:
                     time.sleep(0.05)
                 else:
                     raise TimeoutError(f"motor {motor_id} did not return to idle")
-                completed.append({"motor_id": motor_id, "duration_ms": duration_ms})
+                completed.append({"motor_id": motor_id, "gpio": int(motor["gpio"]), "duration_ms": duration_ms})
     except Exception as exc:
         try:
             httpx.post(f"{base}/stop-motors", json={}, timeout=3.0)
         except Exception:
             pass
         return {"ok": False, "error": f"{type(exc).__name__}: {exc}", "completed_steps": completed,
+                "gpio_log": gpio_log,
                 "duration_ms": int((time.monotonic() - started) * 1000), "session_id": params.get("session_id")}
     return {"ok": True, "pass": True, "sequence_id": params.get("sequence_id"), "completed_steps": completed,
+            "gpio_log": gpio_log,
             "duration_ms": int((time.monotonic() - started) * 1000), "motor_server_url": base,
             "session_id": params.get("session_id")}