infinicode 2.8.107 → 2.8.108

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

@@ -825,6 +825,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
       <div class="section"><h3>Live insights</h3><div class="pk-camera-insight" id="pk-camera-ops-insights"></div></div>
       <div class="section"><h3>Conversation pipeline</h3><div class="pk-camera-pipeline" id="pk-camera-ops-pipeline"></div></div>
       <div class="section"><h3>Hardware and media</h3><div class="pk-camera-insight" id="pk-camera-ops-hardware"></div></div>
+      <div class="section"><h3>Motor operations</h3><div class="rp-field"><label>Saved sequence</label><select id="pk-camera-ops-motor-sequence"></select></div><div class="pk-ctl"><button class="rp-btn" id="pk-camera-ops-motor-discover">Discover relays</button><button class="rp-btn primary" id="pk-camera-ops-motor-run">Run sequence</button><button class="rp-btn danger" id="pk-camera-ops-motor-test">Test registered GPIO</button></div><div class="pk-motor-status" id="pk-camera-ops-motor-status">Loading robot motor profile...</div></div>
       <div class="section"><h3>Operator note</h3><div class="pk-note">Video is relayed directly from the robot's RoboVision MJPEG service through the authenticated mesh. Voice remains on LiveKit, avoiding camera ownership conflicts.</div></div>
     </aside>
   </div>
@@ -7640,10 +7641,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
     }
     function motorEditorAddMotor(){captureMotorEditor();var number=motorProfile.registry.length+1;motorProfile.registry.push({id:'motor-'+number,name:'Motor '+number,gpio:Math.min(27,Math.max(2,number+4)),active_high:true,max_duration_ms:3000});renderMotorEditor();}
     function motorEditorAddStep(){captureMotorEditor();if(!motorProfile.registry.length){motorStatus('Register a motor before adding a timed node','bad');return;}motorEditorSequence().steps.push({motor_id:motorProfile.registry[0].id,delay_ms:0,duration_ms:300});renderMotorEditor();}
-    function motorStatus(message,kind){var host=$('pk-motor-status');if(host){host.textContent=message;host.className='pk-motor-status '+(kind||'');}}
+    function motorStatus(message,kind){['pk-motor-status','pk-camera-ops-motor-status'].forEach(function(id){var host=$(id);if(host){host.textContent=message;host.className='pk-motor-status '+(kind||'');}});}
+    function motorErrorMessage(error){var message=error&&error.message?error.message:String(error||'unknown error');return /(?:\s|^)404(?:\s|$)|not found/i.test(message)?'Motor API is not loaded on the running livekit-1 scheduler. Update and restart the scheduler, then retry.':message;}
     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||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');});
+      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: '+motorErrorMessage(error),'bad');});
     }
     function saveMotorProfile(n){
       captureMotorEditor();var robotId=schedId(n),url=motorProfile.motor_server_url;
@@ -7670,7 +7672,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
     }
     function testAllMotorRelays(n){
       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');});
+      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: '+motorErrorMessage(error),'bad');});
     }
 
     var pipelineHistoryPage=1;
@@ -7862,20 +7864,22 @@ button.act:disabled{opacity:0.5;cursor:default;}
       var stages=[[currentStageLabel,true,'ACTIVE'],['Robot online',!!n.connected,'ready'],['Camera streaming',cameraLive,'ready'],['Motion detector armed',!!device.production_mode,'armed'],['Scheduler session',active,'active']],pipe=$('pk-camera-ops-pipeline');if(pipe)pipe.innerHTML=stages.map(function(s,index){return '<div class="'+(index===0?'fleet-stage-focus '+esc(currentStageStatus):'')+'"><i class="'+(s[1]?'ok':'warn')+'"></i><span>'+esc(s[0])+'</span><b>'+(s[1]?s[2]:'waiting')+'</b></div>';}).join('');
       var inv=device.device_inventory||{},mh=inv.media_health||{},hardware=$('pk-camera-ops-hardware');if(hardware)hardware.innerHTML='<span>CPU</span><b>'+(hw.cpu&&hw.cpu.percent!=null?Math.round(hw.cpu.percent)+'%':'--')+'</b><span>Memory</span><b>'+(hw.memory&&hw.memory.percent!=null?Math.round(hw.memory.percent)+'%':'--')+'</b><span>Temperature</span><b>'+(hw.temperatureC!=null?Math.round(hw.temperatureC)+'C':'--')+'</b><span>Camera inputs</span><b>'+((inv.video||[]).length||0)+'</b><span>Microphones</span><b>'+((inv.audio_input||[]).length||0)+'</b><span>Speaker outputs</span><b>'+((inv.audio_output||[]).length||0)+'</b><span>Camera permission</span><b class="'+(mh.camera_access===false?'bad':'ok')+'">'+(mh.camera_access===false?'DENIED':mh.camera_access===true?'granted':'--')+'</b><span>Audio permission</span><b class="'+(mh.audio_access===false?'bad':'ok')+'">'+(mh.audio_access===false?'DENIED':mh.audio_access===true?'granted':'--')+'</b><span>Camera worker</span><b class="'+(mh.camera_stalled?'bad':'ok')+'">'+(mh.camera_stalled?'STALLED':mh.camera_worker?'streaming':'--')+'</b><span>Frame age</span><b>'+(mh.camera_frame_age_seconds!=null?Number(mh.camera_frame_age_seconds).toFixed(1)+'s':'--')+'</b><span>Selected camera</span><b>'+esc(device.video_device||'auto')+'</b><span>Selected microphone</span><b>'+esc(device.audio_device||'default')+'</b>';
       var prod=$('pk-camera-ops-production');if(prod){prod.textContent=device.production_mode?'Disable production':'Enable production';prod.classList.toggle('primary',!!device.production_mode);}
+      var motorSelect=$('pk-camera-ops-motor-sequence');if(motorSelect){var selected=motorSelect.value||motorSequenceId;motorSelect.innerHTML=(motorProfile.sequences||[]).map(function(sequence){return '<option value="'+esc(sequence.id)+'">'+esc(sequence.name||sequence.id)+'</option>';}).join('')||'<option value="">No saved sequences</option>';if(selected)motorSelect.value=selected;}
     }
     function reloadCameraOperations(){
       if(!cameraOpsNode)return;var img=$('pk-camera-ops-img'),empty=$('pk-camera-ops-empty');if(!img)return;img.dataset.live='false';if(empty){empty.style.display='block';empty.textContent='opening RoboVision camera...';}
       img.onload=function(){img.dataset.live='true';if(cameraOpsRetryTimer){clearTimeout(cameraOpsRetryTimer);cameraOpsRetryTimer=null;}if(empty)empty.style.display='none';refreshCameraOperations();};img.onerror=function(){var failedNode=cameraOpsNode;img.dataset.live='false';if(empty){empty.style.display='block';empty.textContent='camera relay unavailable / retrying';}refreshCameraOperations();if(cameraOpsRetryTimer)clearTimeout(cameraOpsRetryTimer);cameraOpsRetryTimer=setTimeout(function(){if(cameraOpsNode&&cameraOpsNode===failedNode)reloadCameraOperations();},3000);};img.src=cameraOpsFeedUrl(cameraOpsNode);refreshCameraOperations();
     }
     function openCameraOperations(n){
-      cameraOpsNode=n;var host=$('pk-camera-ops');if(!host)return;host.classList.add('open');document.body.classList.add('camera-ops-open');var name=n.displayName||n.name||'robot',avatar=rpAvatarFor(name),av=$('pk-camera-ops-avatar');$('pk-camera-ops-name').textContent=name+' / live operations';$('pk-camera-ops-sub').textContent='RoboVision mesh relay / '+(n.connected?'connected':'offline');if(av){if(avatar){av.src=avatar+QS;av.style.display='block';}else{av.removeAttribute('src');av.style.display='none';}}reloadCameraOperations();if(cameraOpsTimer)clearInterval(cameraOpsTimer);cameraOpsTimer=setInterval(refreshCameraOperations,1000);
+      cameraOpsNode=n;var host=$('pk-camera-ops');if(!host)return;host.classList.add('open');document.body.classList.add('camera-ops-open');var name=n.displayName||n.name||'robot',avatar=rpAvatarFor(name),av=$('pk-camera-ops-avatar');$('pk-camera-ops-name').textContent=name+' / live operations';$('pk-camera-ops-sub').textContent='RoboVision mesh relay / '+(n.connected?'connected':'offline');if(av){if(avatar){av.src=avatar+QS;av.style.display='block';}else{av.removeAttribute('src');av.style.display='none';}}loadMotorProfile(n);reloadCameraOperations();if(cameraOpsTimer)clearInterval(cameraOpsTimer);cameraOpsTimer=setInterval(refreshCameraOperations,1000);
     }
     function closeCameraOperations(){
       var host=$('pk-camera-ops'),img=$('pk-camera-ops-img');if(host)host.classList.remove('open');document.body.classList.remove('camera-ops-open');if(cameraOpsRetryTimer){clearTimeout(cameraOpsRetryTimer);cameraOpsRetryTimer=null;}if(img){img.src='';img.dataset.live='false';}if(cameraOpsTimer){clearInterval(cameraOpsTimer);cameraOpsTimer=null;}cameraOpsNode=null;if(document.fullscreenElement&&document.exitFullscreen)document.exitFullscreen().catch(function(){});
     }
     (function bindCameraOperations(){
-      var close=$('pk-camera-ops-close'),refresh=$('pk-camera-ops-refresh'),nativeBtn=$('pk-camera-ops-native'),trigger=$('pk-camera-ops-trigger'),prod=$('pk-camera-ops-production'),end=$('pk-camera-ops-end');
+      var close=$('pk-camera-ops-close'),refresh=$('pk-camera-ops-refresh'),nativeBtn=$('pk-camera-ops-native'),trigger=$('pk-camera-ops-trigger'),prod=$('pk-camera-ops-production'),end=$('pk-camera-ops-end'),motorDiscover=$('pk-camera-ops-motor-discover'),motorRun=$('pk-camera-ops-motor-run'),motorTest=$('pk-camera-ops-motor-test'),motorSelect=$('pk-camera-ops-motor-sequence');
       if(close)close.addEventListener('click',closeCameraOperations);if(refresh)refresh.addEventListener('click',reloadCameraOperations);if(nativeBtn)nativeBtn.addEventListener('click',function(){var host=$('pk-camera-ops');if(host&&host.requestFullscreen)host.requestFullscreen().catch(function(e){showOut('fullscreen: '+e.message);});});if(trigger)trigger.addEventListener('click',function(){if(cameraOpsNode)triggerSession(schedId(cameraOpsNode));});if(prod)prod.addEventListener('click',function(){if(cameraOpsNode){var d=schedulerDevice(cameraOpsNode)||{};setProductionMode(cameraOpsNode,!d.production_mode);setTimeout(refreshCameraOperations,400);}});if(end)end.addEventListener('click',function(){if(cameraOpsNode)endSession(schedId(cameraOpsNode));});document.addEventListener('keydown',function(e){if(e.key==='Escape'&&cameraOpsNode)closeCameraOperations();});
+      if(motorDiscover)motorDiscover.addEventListener('click',function(){if(cameraOpsNode)discoverMotorRelays(cameraOpsNode,false).catch(function(error){motorStatus('Discovery failed: '+error.message,'bad');});});if(motorRun)motorRun.addEventListener('click',function(){if(cameraOpsNode)runMotorSequence(cameraOpsNode);});if(motorTest)motorTest.addEventListener('click',function(){if(cameraOpsNode)testAllMotorRelays(cameraOpsNode);});if(motorSelect)motorSelect.addEventListener('change',function(){motorSequenceId=motorSelect.value;renderMotorEditor();refreshCameraOperations();});
     })();
 
     // ── cam: target a LiveKit track; fall back to a styled preview ──

package/dist/robopark/robot-runtime.js

@@ -9,7 +9,7 @@
  */
 import { spawn } from 'node:child_process';
 import { existsSync, mkdirSync, openSync, readFileSync, rmSync, writeFileSync } from 'node:fs';
-import { homedir } from 'node:os';
+import { homedir, networkInterfaces } from 'node:os';
 import { dirname, join } from 'node:path';
 import { fileURLToPath } from 'node:url';
 import chalk from 'chalk';
@@ -18,6 +18,122 @@ const VISION_URL = 'http://127.0.0.1:5000/api/media/inventory';
 const VISION_STATUS_URL = 'http://127.0.0.1:5000/api/camera/status';
 const RESTART_DELAY_MS = 5_000;
 const MEDIA_WATCHDOG_INTERVAL_MS = 10_000;
+const SCHEDULER_HEARTBEAT_INTERVAL_MS = 5_000;
+function currentLanIp() {
+    for (const addresses of Object.values(networkInterfaces())) {
+        for (const address of addresses ?? []) {
+            if (address.family === 'IPv4' && !address.internal)
+                return address.address;
+        }
+    }
+    return undefined;
+}
+function readSchedulerIdentity() {
+    const configDir = join(homedir(), '.robopark');
+    try {
+        const config = JSON.parse(readFileSync(join(configDir, 'preview_agent.json'), 'utf8'));
+        const deviceId = String(config.device_id ?? '').trim();
+        const fileToken = existsSync(join(configDir, 'device_token'))
+            ? readFileSync(join(configDir, 'device_token'), 'utf8').trim()
+            : '';
+        const deviceToken = fileToken || String(config.device_token ?? '').trim();
+        if (deviceId && deviceToken)
+            return { deviceId, deviceToken };
+    }
+    catch {
+        // First boot has no identity yet.
+    }
+    return undefined;
+}
+function persistSchedulerIdentity(identity, schedulerUrl) {
+    const configDir = join(homedir(), '.robopark');
+    const configPath = join(configDir, 'preview_agent.json');
+    mkdirSync(configDir, { recursive: true });
+    let config = {};
+    try {
+        config = JSON.parse(readFileSync(configPath, 'utf8'));
+    }
+    catch { /* first boot */ }
+    config.device_id = identity.deviceId;
+    config.device_token = identity.deviceToken;
+    config.scheduler_url = schedulerUrl;
+    writeFileSync(configPath, JSON.stringify(config, null, 2), 'utf8');
+    writeFileSync(join(configDir, 'device_token'), identity.deviceToken, { encoding: 'utf8', mode: 0o600 });
+}
+function startSchedulerHeartbeat(opts, livekitUrl) {
+    let identity = readSchedulerIdentity();
+    let stopped = false;
+    let inFlight = false;
+    const bootstrap = async () => {
+        const response = await fetch(`${opts.schedulerUrl.replace(/\/+$/, '')}/api/devices/bootstrap`, {
+            method: 'POST',
+            headers: {
+                'content-type': 'application/json',
+                'x-robopark-mesh-token': opts.token,
+            },
+            body: JSON.stringify({ name: opts.name, lan_ip: currentLanIp(), livekit_url: livekitUrl }),
+            signal: AbortSignal.timeout(10_000),
+        });
+        if (!response.ok)
+            throw new Error(`bootstrap HTTP ${response.status}`);
+        const data = await response.json();
+        const next = {
+            deviceId: String(data.device_id ?? '').trim(),
+            deviceToken: String(data.device_token ?? '').trim(),
+        };
+        if (!next.deviceId || !next.deviceToken)
+            throw new Error('bootstrap returned no device credentials');
+        persistSchedulerIdentity(next, opts.schedulerUrl);
+        return next;
+    };
+    const beat = async () => {
+        if (stopped || inFlight)
+            return;
+        inFlight = true;
+        try {
+            identity = readSchedulerIdentity() ?? identity;
+            if (!identity)
+                identity = await bootstrap();
+            let response = await fetch(`${opts.schedulerUrl.replace(/\/+$/, '')}/api/devices/${encodeURIComponent(identity.deviceId)}/heartbeat`, {
+                method: 'POST',
+                headers: {
+                    authorization: `Bearer ${identity.deviceToken}`,
+                    'content-type': 'application/json',
+                    'x-robopark-mesh-token': opts.token,
+                },
+                body: JSON.stringify({ status: 'online', ip: currentLanIp(), livekit_url: livekitUrl }),
+                signal: AbortSignal.timeout(10_000),
+            });
+            if (response.status === 401 || response.status === 404) {
+                identity = await bootstrap();
+                response = await fetch(`${opts.schedulerUrl.replace(/\/+$/, '')}/api/devices/${encodeURIComponent(identity.deviceId)}/heartbeat`, {
+                    method: 'POST',
+                    headers: {
+                        authorization: `Bearer ${identity.deviceToken}`,
+                        'content-type': 'application/json',
+                        'x-robopark-mesh-token': opts.token,
+                    },
+                    body: JSON.stringify({ status: 'online', ip: currentLanIp(), livekit_url: livekitUrl }),
+                    signal: AbortSignal.timeout(10_000),
+                });
+            }
+            if (!response.ok)
+                throw new Error(`heartbeat HTTP ${response.status}`);
+        }
+        catch (error) {
+            console.error(chalk.yellow(`  scheduler heartbeat watchdog: ${error instanceof Error ? error.message : String(error)}`));
+        }
+        finally {
+            inFlight = false;
+        }
+    };
+    void beat();
+    const timer = setInterval(() => { void beat(); }, SCHEDULER_HEARTBEAT_INTERVAL_MS);
+    return () => {
+        stopped = true;
+        clearInterval(timer);
+    };
+}
 function resetStaleEnrollment() {
     const configDir = join(homedir(), '.robopark');
     const tokenPath = join(configDir, 'device_token');
@@ -288,6 +404,7 @@ export async function roboparkRobotRuntime(opts) {
     }
     // Identity and inventory reporting start immediately. RoboVision may still
     // be installing or recovering without making the robot disappear.
+    const stopSchedulerHeartbeat = startSchedulerHeartbeat(opts, livekitUrl);
     start(children[0]);
     start(preview);
     if (opts.vision !== false) {
@@ -303,6 +420,7 @@ export async function roboparkRobotRuntime(opts) {
     const mediaWatchdog = setInterval(() => { void monitorVision(); }, MEDIA_WATCHDOG_INTERVAL_MS);
     const shutdown = () => {
         stopping = true;
+        stopSchedulerHeartbeat();
         clearInterval(mediaWatchdog);
         for (const entry of [...children, preview])
             signalChild(entry, 'SIGTERM');

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.107",
+  "version": "2.8.108",
   "description": "OpenKernel — provider-agnostic AI execution kernel. Native coding agent + mission-driven execution runtime.",
   "type": "module",
   "main": "./dist/kernel/index.js",