infinicode 2.8.13 → 2.8.16

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

@@ -825,6 +825,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
     var nodes=[], byId={}, orbs=[], pulses=[], t0=0, raf=null, running=false, es=null, animSeq=-1;
     var drawerId=null, camRAF=null, meterRAF=null, camAbort=null, drawerTimer=null;
     var previewOn=false, previewTimer=null;   // on-demand operator camera preview
+    var visionOn=false;   // RoboVisionAI_PI overlay feed (direct MJPEG, not LiveKit)
     var lkRoom=null, micAnalyser=null, audioCtx=null;
     var imgs={}; // preloaded robot concept avatars
     var TW=44, TH=22, PARK_W=15, PARK_D=8;
@@ -1189,6 +1190,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
       // tell the scheduler to end any live preview so the robot stops its cam
       if(previewOn && drawerId){ var pn=byId[drawerId]; if(pn){ try{ fetch('/robopark/api/robots/'+encodeURIComponent(schedId(pn))+'/preview/stop'+QS,{method:'POST',keepalive:true}); }catch(e){} } }
       previewOn=false; if(previewTimer){ clearInterval(previewTimer); previewTimer=null; }
+      stopVision();
       $('pk-drawer').classList.remove('open'); drawerId=null;
       if(camRAF)cancelAnimationFrame(camRAF); camRAF=null;
       if(meterRAF)cancelAnimationFrame(meterRAF); meterRAF=null;
@@ -1225,10 +1227,34 @@ button.act:disabled{opacity:0.5;cursor:default;}
       var note=$('pk-golivenote'); if(note) note.textContent='';
       idleCam('idle');
     }
+    // RoboVisionAI_PI serves its own MJPEG stream directly (not via LiveKit),
+    // so the browser hits the robot's LAN IP straight on, no scheduler proxy.
+    // The scheduler learns that IP from the device's own heartbeats.
+    function toggleVision(n){
+      var img=$('pk-vision-img'), note=$('pk-vision-note'), btn=$('pk-vision-toggle');
+      if(visionOn){
+        visionOn=false; if(img){ img.src=''; img.style.display='none'; }
+        if(btn) btn.textContent='🔍 Show overlay';
+        if(note) note.textContent="object/motion detection overlay from the robot's vision server (RoboVisionAI_PI)";
+        return;
+      }
+      var row=schedRow(n);
+      var ip=row&&row.lan_ip;
+      if(!ip){ if(note) note.textContent='no known IP for this robot yet — waiting for a heartbeat with lan_ip'; return; }
+      var port=(row&&row.vision_port)||5000;
+      visionOn=true;
+      if(btn) btn.textContent='■ Hide overlay';
+      if(note) note.textContent='streaming from http://'+ip+':'+port+'/video_feed';
+      if(img){ img.src='http://'+ip+':'+port+'/video_feed'; img.style.display='block'; }
+    }
+    function stopVision(){
+      visionOn=false;
+      var img=$('pk-vision-img'); if(img){ img.src=''; img.style.display='none'; }
+    }
     function pollRoboparkQuiet(){
       fetch('/robopark/api/telemetry'+QS,{cache:'no-store'}).then(function(r){return r.json();}).then(function(d){
         var list=(Array.isArray(d)?d:(d&&d.robots)||[]); roboparkByName={};
-        list.forEach(function(x){ roboparkByName[x.robot_id||x.id||x.name||'robot']=x; });
+        list.forEach(function(x){ roboparkByName[x.robot_id||x.id||x.name||'robot']=x; if(x.name) roboparkByName[x.name]=x; });
         refreshDrawer();
       }).catch(function(){});
     }
@@ -1247,6 +1273,10 @@ button.act:disabled{opacity:0.5;cursor:default;}
             +'<div class="hud"><div class="rec"><i></i>REC · '+esc(n.name)+'</div><div class="tr" id="pk-camres">— · —</div><div class="br" id="pk-camts">--:--:--</div></div></div>'
             +'<div class="pk-note" id="pk-camnote">seeking LiveKit track…</div>'
             +'<div class="pk-ctl" style="margin-top:0.5rem"><button class="rp-btn" id="pk-golive" data-robot="'+esc(n.name)+'">▶ Go live</button><span class="pk-note" id="pk-golivenote" style="margin:0"></span></div>')
+        + sect('🔍 vision overlay',
+            '<div class="pk-cam" id="pk-vision-wrap"><img id="pk-vision-img" style="width:100%;display:none;border-radius:inherit" alt="vision feed"/></div>'
+            +'<div class="pk-note" id="pk-vision-note">object/motion detection overlay from the robot\'s vision server (RoboVisionAI_PI)</div>'
+            +'<div class="pk-ctl" style="margin-top:0.5rem"><button class="rp-btn" id="pk-vision-toggle">🔍 Show overlay</button></div>')
         + sect('🎙 microphone','<div class="pk-meter"><span class="lab">input</span><div class="pk-bars" id="pk-micbars"></div><span class="pk-val" id="pk-micval">—</span></div><div class="pk-note" id="pk-micstate">awaiting robot audio plugin</div>')
         + sect('🔊 speaker','<canvas class="pk-wave" id="pk-spkwave" width="360" height="32"></canvas><div class="pk-meter"><span class="lab">output</span><div class="pk-bars" id="pk-spkbars"></div><span class="pk-val" id="pk-spkval">—</span></div><div class="pk-note" id="pk-spkstate">awaiting robot audio plugin</div>')
         + sect('📊 hardware','<div class="pk-hwgrid"><div><div class="l">load</div><div class="track"><div class="fill" id="pk-hw-load"></div></div></div><div><div class="l">status</div><div class="track"><div class="fill" id="pk-hw-conn" style="background:'+(n.connected?'var(--ok)':'var(--muted)')+'"></div></div></div></div><div class="pk-note">remote node — full CPU/mem telemetry shows on the node itself</div>')
@@ -1254,6 +1284,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
         + sect('⚙ controls','<div class="pk-ctl"><button class="rp-btn danger" id="pk-end" data-robot="'+esc(n.name)+'">End session</button><button class="rp-btn" id="pk-follow">Follow run</button></div><div class="pk-note">end-session is live via the scheduler; cam/mic/speaker fill in as the robot plugin publishes them</div>');
         startCam(n); startMeters(n);
         var gl=$('pk-golive'); if(gl) gl.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } goLive(n); });
+        var vt=$('pk-vision-toggle'); if(vt) vt.addEventListener('click', function(){ toggleVision(n); });
         var eb=$('pk-end'); if(eb) eb.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } endSession(schedId(n)); });
         var fb=$('pk-follow'); if(fb) fb.addEventListener('click', function(){ selectTab('fleet'); $('cmdInput').value='/follow'; selectNode(n.id,n.name); showOut('type a runId after /follow, or run /status on '+n.name); });
       } else {

package/dist/robopark/auto-start.d.ts

@@ -1,5 +1,5 @@
 export interface ServiceArgs {
-    role: 'hub' | 'robot' | 'control' | 'hub-scheduler' | 'robot-preview-agent';
+    role: 'hub' | 'robot' | 'control' | 'hub-scheduler' | 'robot-preview-agent' | 'robot-vision-agent';
     name: string;
     command: string;
     args: string[];

package/dist/robopark/preview-agent-launcher.d.ts

@@ -8,6 +8,9 @@ export interface PreviewAgentOptions {
     width: string;
     height: string;
     fps: string;
+    visionWebhookPort?: string;
+    visionTriggerCooldown?: string;
+    visionSessionSeconds?: string;
     saveConfig?: boolean;
     foreground?: boolean;
 }

package/dist/robopark/preview-agent-launcher.js

@@ -41,6 +41,12 @@ export async function roboparkPreviewAgent(opts) {
         args.push('--device-token', opts.deviceToken);
     if (opts.enrollmentToken)
         args.push('--enrollment-token', opts.enrollmentToken);
+    if (opts.visionWebhookPort)
+        args.push('--vision-webhook-port', opts.visionWebhookPort);
+    if (opts.visionTriggerCooldown)
+        args.push('--vision-trigger-cooldown', opts.visionTriggerCooldown);
+    if (opts.visionSessionSeconds)
+        args.push('--vision-session-seconds', opts.visionSessionSeconds);
     if (opts.saveConfig)
         args.push('--save-config');
     console.log(chalk.bold('\n  robopark preview-agent'));
@@ -49,6 +55,8 @@ export async function roboparkPreviewAgent(opts) {
     console.log(`  scheduler: ${chalk.cyan(schedulerUrl)}`);
     console.log(`  video:     ${chalk.cyan(opts.videoDevice)}`);
     console.log(`  audio:     ${chalk.cyan(opts.audioDevice)}`);
+    if (opts.visionWebhookPort)
+        console.log(`  vision webhook: ${chalk.cyan(':' + opts.visionWebhookPort)} (point RoboVisionAI_PI's motion webhook here)`);
     console.log();
     if (opts.foreground) {
         const proc = spawn(python, args, { stdio: 'inherit' });

package/dist/robopark/python-env.d.ts

@@ -1,9 +1,15 @@
+/** Modules app_pi_clean.py imports — kept in sync with requirements_pi_unified.txt. */
+export declare const VISION_REQUIRED_MODULES: string[];
 export declare function findSchedulerPath(): Promise<string | null>;
+export declare function findVisionPath(): Promise<string | null>;
 export declare function findPython(): string;
 /**
- * Ensure preview_agent.py's Python deps are importable, installing them from
- * requirements-robot.txt (next to the script) if not. Returns false — with a
- * message already printed — if deps are still missing after the install
+ * Ensure a robot-side script's Python deps are importable, installing them
+ * from a requirements file (next to the script) if not. Returns false — with
+ * a message already printed — if deps are still missing after the install
  * attempt, so callers can bail out before hitting a raw traceback.
+ *
+ * Defaults match preview_agent.py; pass `modules`/`reqFile` for other scripts
+ * (e.g. app_pi_clean.py + requirements_pi_unified.txt).
  */
-export declare function ensurePythonDeps(python: string, scriptPath: string): boolean;
+export declare function ensurePythonDeps(python: string, scriptPath: string, modules?: string[], reqFile?: string): boolean;

package/dist/robopark/python-env.js

@@ -1,6 +1,6 @@
 /**
- * RoboPark — shared Python environment helpers for `enroll` and
- * `preview-agent`, which both spawn `preview_agent.py`.
+ * RoboPark — shared Python environment helpers for `enroll`, `preview-agent`,
+ * and `vision-agent`, which spawn preview_agent.py / app_pi_clean.py.
  */
 import { execSync, spawnSync } from 'node:child_process';
 import { existsSync } from 'node:fs';
@@ -8,10 +8,13 @@ import { join } from 'node:path';
 import chalk from 'chalk';
 /** Modules preview_agent.py imports — kept in sync with requirements-robot.txt. */
 const REQUIRED_MODULES = ['httpx', 'cv2', 'pyaudio', 'livekit'];
-export async function findSchedulerPath() {
+/** Modules app_pi_clean.py imports — kept in sync with requirements_pi_unified.txt. */
+export const VISION_REQUIRED_MODULES = ['flask', 'flask_cors', 'cv2', 'numpy', 'requests'];
+async function findPackageScript(relativePath) {
+    const parts = relativePath.split('/');
     const candidates = [
-        join(process.cwd(), 'packages', 'robopark', 'scheduler', 'preview_agent.py'),
-        join(process.cwd(), 'scheduler', 'preview_agent.py'),
+        join(process.cwd(), 'packages', 'robopark', ...parts),
+        join(process.cwd(), ...parts),
     ];
     for (const p of candidates) {
         if (existsSync(p))
@@ -21,13 +24,19 @@ export async function findSchedulerPath() {
         const { createRequire } = await import('node:module');
         const require = createRequire(import.meta.url);
         const pkgMain = require.resolve('infinicode/package.json');
-        const p = join(pkgMain, '..', 'packages', 'robopark', 'scheduler', 'preview_agent.py');
+        const p = join(pkgMain, '..', 'packages', 'robopark', ...relativePath.split('/'));
         if (existsSync(p))
             return p;
     }
     catch { /* ignore */ }
     return null;
 }
+export async function findSchedulerPath() {
+    return findPackageScript('scheduler/preview_agent.py');
+}
+export async function findVisionPath() {
+    return findPackageScript('vision/app_pi_clean.py');
+}
 export function findPython() {
     const names = process.platform === 'win32'
         ? ['python', 'python3', 'py']
@@ -43,25 +52,28 @@ export function findPython() {
     }
     return process.platform === 'win32' ? 'python' : 'python3';
 }
-function missingModules(python) {
-    return REQUIRED_MODULES.filter(mod => {
+function missingModules(python, modules) {
+    return modules.filter(mod => {
         const res = spawnSync(python, ['-c', `import ${mod}`], { stdio: 'ignore' });
         return res.status !== 0;
     });
 }
 /**
- * Ensure preview_agent.py's Python deps are importable, installing them from
- * requirements-robot.txt (next to the script) if not. Returns false — with a
- * message already printed — if deps are still missing after the install
+ * Ensure a robot-side script's Python deps are importable, installing them
+ * from a requirements file (next to the script) if not. Returns false — with
+ * a message already printed — if deps are still missing after the install
  * attempt, so callers can bail out before hitting a raw traceback.
+ *
+ * Defaults match preview_agent.py; pass `modules`/`reqFile` for other scripts
+ * (e.g. app_pi_clean.py + requirements_pi_unified.txt).
  */
-export function ensurePythonDeps(python, scriptPath) {
-    const missing = missingModules(python);
+export function ensurePythonDeps(python, scriptPath, modules = REQUIRED_MODULES, reqFile = 'requirements-robot.txt') {
+    const missing = missingModules(python, modules);
     if (missing.length === 0)
         return true;
-    const reqPath = join(scriptPath, '..', 'requirements-robot.txt');
+    const reqPath = join(scriptPath, '..', reqFile);
     if (!existsSync(reqPath)) {
-        console.log(chalk.red(`  ✗ missing Python modules: ${missing.join(', ')} (and requirements-robot.txt not found next to ${scriptPath})`));
+        console.log(chalk.red(`  ✗ missing Python modules: ${missing.join(', ')} (and ${reqFile} not found next to ${scriptPath})`));
         return false;
     }
     console.log(chalk.dim(`  installing Python deps (${missing.join(', ')})…`));
@@ -70,7 +82,7 @@ export function ensurePythonDeps(python, scriptPath) {
         console.log(chalk.red(`  ✗ pip install failed — install manually: ${python} -m pip install -r "${reqPath}"`));
         return false;
     }
-    const stillMissing = missingModules(python);
+    const stillMissing = missingModules(python, modules);
     if (stillMissing.length > 0) {
         console.log(chalk.red(`  ✗ still missing after install: ${stillMissing.join(', ')} — install manually: ${python} -m pip install -r "${reqPath}"`));
         return false;

package/dist/robopark/setup.d.ts

@@ -16,6 +16,7 @@ export interface SetupOptions {
     enrollmentToken?: string;
     videoDevice?: string;
     audioDevice?: string;
+    vision?: boolean;
     start?: boolean;
     autoStart?: boolean;
     yes?: boolean;

package/dist/robopark/setup.js

@@ -171,9 +171,16 @@ async function setupRobot(config, opts, ctx, internal) {
     ];
     if (opts.enrollmentToken)
         previewAgentArgs.push('--enrollment-token', opts.enrollmentToken);
+    // Vision (camera/motion detection -> presence-triggered session) is the
+    // production trigger — on by default. --no-vision opts out (e.g. no camera
+    // on this box, or RoboVisionAI_PI isn't installed).
+    const visionEnabled = opts.vision !== false;
+    const visionAgentArgs = ['vision-agent'];
     console.log(chalk.dim('  robot command:'));
     console.log('  ' + chalk.cyan(`infinicode ${args.join(' ')}`));
     console.log('  ' + chalk.cyan(`robopark ${previewAgentArgs.join(' ')}`));
+    if (visionEnabled)
+        console.log('  ' + chalk.cyan(`robopark ${visionAgentArgs.join(' ')}`));
     console.log();
     if (opts.start) {
         const robotArgv = await infinicodeArgv(args);
@@ -191,6 +198,11 @@ async function setupRobot(config, opts, ctx, internal) {
         console.log(chalk.dim('  starting preview agent…'));
         const previewArgv = [process.execPath, process.argv[1], ...previewAgentArgs];
         runDetached(previewArgv[0], previewArgv.slice(1));
+        if (visionEnabled) {
+            console.log(chalk.dim('  starting vision agent…'));
+            const visionArgv = [process.execPath, process.argv[1], ...visionAgentArgs];
+            runDetached(visionArgv[0], visionArgv.slice(1));
+        }
     }
     if (opts.autoStart) {
         const robotArgv = await infinicodeArgv(args);
@@ -209,6 +221,16 @@ async function setupRobot(config, opts, ctx, internal) {
             args: previewArgv.slice(1),
         });
         console.log(reg2.ok ? chalk.green(`  ✓ ${reg2.message}`) : chalk.yellow(`  ⚠ ${reg2.message}`));
+        if (visionEnabled) {
+            const visionArgv = [process.execPath, process.argv[1], ...visionAgentArgs, '--foreground'];
+            const reg3 = await registerAutoStart({
+                role: 'robot-vision-agent',
+                name: internal.name,
+                command: visionArgv[0],
+                args: visionArgv.slice(1),
+            });
+            console.log(reg3.ok ? chalk.green(`  ✓ ${reg3.message}`) : chalk.yellow(`  ⚠ ${reg3.message}`));
+        }
     }
 }
 async function setupControl(config, opts, ctx, internal) {

package/dist/robopark/vision-agent-launcher.d.ts

@@ -0,0 +1,7 @@
+export interface VisionAgentOptions {
+    port?: string;
+    motionWebhookUrl?: string;
+    motionActive?: boolean;
+    foreground?: boolean;
+}
+export declare function roboparkVisionAgent(opts: VisionAgentOptions): Promise<void>;

package/dist/robopark/vision-agent-launcher.js

@@ -0,0 +1,55 @@
+/**
+ * RoboPark — `robopark vision-agent` launcher.
+ *
+ * Starts app_pi_clean.py (RoboVisionAI_PI's camera/motion detector) with the
+ * right Python interpreter, self-armed and pointed at the local
+ * preview-agent's motion-webhook listener by default — no manual curl calls.
+ */
+import { spawn } from 'node:child_process';
+import chalk from 'chalk';
+import { findPython, findVisionPath, ensurePythonDeps, VISION_REQUIRED_MODULES } from './python-env.js';
+const DEFAULT_VISION_PORT = 5000;
+const DEFAULT_MOTION_WEBHOOK_PORT = 5057; // must match preview-agent's --vision-webhook-port default
+function isPiArm() {
+    return process.platform === 'linux' && (process.arch === 'arm' || process.arch === 'arm64');
+}
+export async function roboparkVisionAgent(opts) {
+    const script = await findVisionPath();
+    if (!script) {
+        console.log(chalk.red('  ✗ could not find app_pi_clean.py'));
+        process.exit(1);
+    }
+    const python = findPython();
+    // Real Pi: opencv comes from `apt install python3-opencv`, not pip (see
+    // requirements_pi_unified.txt) — pip-installing it here would fight the
+    // ARM-optimized system build. Everywhere else: plain pip install works.
+    const reqFile = isPiArm() ? 'requirements_pi_unified.txt' : 'requirements-demo.txt';
+    if (!ensurePythonDeps(python, script, VISION_REQUIRED_MODULES, reqFile))
+        process.exit(1);
+    const port = opts.port ?? String(DEFAULT_VISION_PORT);
+    const webhookUrl = opts.motionWebhookUrl ?? `http://127.0.0.1:${DEFAULT_MOTION_WEBHOOK_PORT}/`;
+    const motionActive = opts.motionActive ?? true; // armed by default — "vision trigger as production system"
+    const args = [script, '--port', port, '--motion-webhook-url', webhookUrl];
+    if (motionActive)
+        args.push('--motion-active');
+    console.log(chalk.bold('\n  robopark vision-agent'));
+    console.log(chalk.dim('  ' + '─'.repeat(52)));
+    console.log(`  port:    ${chalk.cyan(port)}`);
+    console.log(`  webhook: ${chalk.cyan(webhookUrl)}`);
+    console.log(`  motion:  ${motionActive ? chalk.green('armed') : chalk.dim('off')}`);
+    console.log();
+    if (opts.foreground) {
+        const proc = spawn(python, args, { stdio: 'inherit' });
+        await new Promise((resolve) => {
+            proc.on('close', () => resolve());
+        });
+        return;
+    }
+    const proc = spawn(python, args, {
+        stdio: 'ignore',
+        detached: true,
+        env: { ...process.env, ROBOPARK_VISION_AGENT: '1' },
+    });
+    proc.unref();
+    console.log(chalk.green('  ✓ vision agent started in background'));
+}

package/dist/robopark-cli.js

@@ -99,12 +99,26 @@ program
     .option('--width <px>', 'video width', '640')
     .option('--height <px>', 'video height', '480')
     .option('--fps <n>', 'video fps', '15')
+    .option('--vision-webhook-port <port>', 'local port for RoboVisionAI_PI\'s motion webhook (0 disables)', '5057')
+    .option('--vision-trigger-cooldown <sec>', 'min seconds between motion-triggered sessions', '20')
+    .option('--vision-session-seconds <sec>', 'how long a motion-triggered session holds the publisher', '90')
     .option('--save-config', 'write settings to ~/.robopark/preview_agent.json')
     .option('--foreground', 'stay in foreground; do not detach')
     .action(async (opts) => {
     const { roboparkPreviewAgent } = await import('./robopark/preview-agent-launcher.js');
     await roboparkPreviewAgent(opts);
 });
+program
+    .command('vision-agent')
+    .description('Start the robot-side camera/motion detector (RoboVisionAI_PI) — self-arms and wires to preview-agent\'s vision webhook')
+    .option('--port <port>', 'vision server port', '5000')
+    .option('--motion-webhook-url <url>', 'where to POST on motion (defaults to the local preview-agent\'s vision webhook, http://127.0.0.1:5057/)')
+    .option('--no-motion-active', 'do not arm motion detection on startup (armed by default)')
+    .option('--foreground', 'stay in foreground; do not detach')
+    .action(async (opts) => {
+    const { roboparkVisionAgent } = await import('./robopark/vision-agent-launcher.js');
+    await roboparkVisionAgent(opts);
+});
 program
     .command('setup')
     .description('Set up this device in one pass')
@@ -125,6 +139,7 @@ program
     .option('--enrollment-token <token>', 'one-time scheduler enrollment token for robots')
     .option('--video-device <dev>', 'default camera for robot preview agent', 'auto')
     .option('--audio-device <dev>', 'default microphone for robot preview agent', 'default')
+    .option('--no-vision', 'do not start the vision (camera/motion trigger) agent for a robot — armed by default')
     .option('--start', 'launch the node now')
     .option('--auto-start', 'register to start on boot')
     .option('--yes', 'non-interactive mode')
@@ -149,6 +164,7 @@ program
         enrollmentToken: opts.enrollmentToken,
         videoDevice: opts.videoDevice,
         audioDevice: opts.audioDevice,
+        vision: opts.vision,
         start: opts.start,
         autoStart: opts.autoStart,
         yes: opts.yes,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.13",
+  "version": "2.8.16",
   "description": "OpenKernel — provider-agnostic AI execution kernel. Native coding agent + mission-driven execution runtime.",
   "type": "module",
   "main": "./dist/kernel/index.js",
@@ -27,6 +27,8 @@
     "bin/robopark.js",
     "dist",
     "packages/robopark/scheduler",
+    "packages/robopark/pi-client",
+    "packages/robopark/vision",
     ".opencode/plugins",
     ".opencode/themes",
     ".opencode/tui.json",

package/packages/robopark/pi-client/README.md

@@ -0,0 +1,17 @@
+# robopark-pi-client — full robot client (reference)
+
+The full on-robot client: enrollment, heartbeat, motor control, and a
+LiveKit publish loop (`livekit_bridge.py`) that joins a standing per-device
+room whenever `production_mode` is on. `pi_ui.py` serves a touchscreen UI
+with a manual "Join Conversation" button — the human-in-the-loop trigger.
+
+This is a reference implementation shipped for Pi deployment; it is not
+currently wired into `robopark setup --robot` (which uses `../scheduler/
+preview_agent.py` for the on-demand preview + vision-trigger flow — see
+`../vision/README.md`). `client.py`'s standing-room model and the scheduler's
+`request-session`-per-trigger model are two different session strategies;
+reconciling them into one is follow-up work, not done here.
+
+Install: `pip install -r requirements.txt` (`livekit`/`livekit-api` are
+commented out — Pi-only, install separately with the `livekit` SDK).
+`install.sh`/`*.service` are Linux/Pi systemd wrappers.

package/packages/robopark/pi-client/_install_steps.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+set -e
+echo "=== reset perms (cleanup from previous attempt) ==="
+sudo rm -rf /opt/robopark-pi-client/.venv 2>/dev/null || true
+sudo chown -R robopark:robopark /opt/robopark-pi-client
+
+echo "=== apt deps (no signing strict) ==="
+sudo apt-get -o Acquire::AllowInsecureRepositories=true update 2>&1 | tail -3
+sudo apt-get install -y --no-install-recommends python3-venv python3-pip libatlas3-base libasound2t64 portaudio19-dev libjpeg-dev libpng-dev ffmpeg 2>&1 | tail -3
+echo "apt-done"
+
+echo "=== create venv as robopark ==="
+sudo -u robopark python3 -m venv /opt/robopark-pi-client/.venv
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet --upgrade pip
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet httpx
+echo "httpx-done"
+
+echo "=== media stack (optional, may take a while) ==="
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet livekit livekit-api numpy 2>&1 | tail -3
+echo "lk-done"
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet opencv-python-headless 2>&1 | tail -3
+echo "cv-done"
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet sounddevice 2>&1 | tail -3
+echo "sd-done"
+
+echo "=== final state ==="
+ls -la /opt/robopark-pi-client
+ls /opt/robopark-pi-client/.venv/bin | head -5
+echo "all-done"