infinicode 2.8.13 → 2.8.16

package/packages/robopark/pi-client/motor_bridge.py

@@ -0,0 +1,82 @@
+"""Motor bridge for RoboPark Pi client.
+
+Translates motor commands (currently delivered via LiveKit data channel
+from the agent) into HTTP POSTs against the local RoboVisionAI_PI motor
+server (same endpoints the agent already calls: /trigger-motor and
+/stop-motors).
+
+Command wire format (JSON on the data channel):
+    {"op": "motor", "name": "arm", "seconds": 3}
+    {"op": "stop"}
+"""
+
+import asyncio
+import json
+import logging
+from typing import Awaitable, Callable, Optional
+
+import httpx
+
+log = logging.getLogger("robopark-pi.motor")
+
+
+class MotorBridge:
+    def __init__(self, motor_server_url: Optional[str], dry_run: bool = False):
+        self.motor_server_url = (motor_server_url or "").rstrip("/")
+        self.dry_run = dry_run
+        self._lock = asyncio.Lock()  # the local motor server allows one motor at a time
+
+    async def handle_command(self, raw: str | bytes) -> str:
+        """Handle one command from the data channel. Returns a short result string."""
+        try:
+            text = raw.decode() if isinstance(raw, (bytes, bytearray)) else raw
+            msg = json.loads(text)
+        except Exception as e:
+            log.warning(f"Could not parse motor command {raw!r}: {e}")
+            return f"error: invalid json ({e})"
+
+        op = (msg.get("op") or "").lower()
+        if op == "motor":
+            name = msg.get("name")
+            seconds = int(msg.get("seconds", 3))
+            if not name:
+                return "error: missing 'name'"
+            seconds = max(1, min(seconds, 30))
+            return await self.move(name, seconds)
+        elif op == "stop":
+            return await self.stop_all()
+        elif op == "ping":
+            return "pong"
+        else:
+            log.warning(f"Unknown motor op: {op!r}")
+            return f"error: unknown op {op!r}"
+
+    async def move(self, name: str, seconds: int) -> str:
+        if self.dry_run or not self.motor_server_url:
+            log.info(f"[DRY-RUN] would move motor '{name}' for {seconds}s")
+            return f"dry-run: {name} {seconds}s"
+        async with self._lock:
+            try:
+                async with httpx.AsyncClient(timeout=seconds + 5.0) as c:
+                    r = await c.post(
+                        f"{self.motor_server_url}/trigger-motor",
+                        json={"motor_name": name, "seconds": seconds},
+                    )
+                if r.status_code == 200:
+                    return f"moved {name} for {seconds}s"
+                return f"motor server {r.status_code}: {r.text[:200]}"
+            except Exception as e:
+                log.error(f"move({name}) failed: {e}")
+                return f"error: {e}"
+
+    async def stop_all(self) -> str:
+        if self.dry_run or not self.motor_server_url:
+            log.info("[DRY-RUN] would stop all motors")
+            return "dry-run: stop"
+        try:
+            async with httpx.AsyncClient(timeout=5.0) as c:
+                r = await c.post(f"{self.motor_server_url}/stop-motors", json={})
+            return f"stop {r.status_code}"
+        except Exception as e:
+            log.error(f"stop_all failed: {e}")
+            return f"error: {e}"

package/packages/robopark/pi-client/pi_ui.py

@@ -0,0 +1,375 @@
+"""Lightweight Pi-side UI for testing the production-mode + LiveKit flow.
+
+Run on the Pi:
+    /opt/robopark-pi-client/.venv/bin/python /opt/robopark-pi-client/pi_ui.py \
+        --scheduler-url http://192.168.1.241:8080 \
+        --port 8081
+
+Then open http://192.168.1.159:8081/ in any browser on the same LAN.
+
+What it shows / does:
+- Live status of this device as seen by the scheduler (online/offline, last heartbeat)
+- Current scheduler settings (production_mode, LiveKit configured)
+- Big "Join Conversation" button that asks the scheduler for a LiveKit token and
+  opens https://meet.livekit.io/custom?livekitUrl=...&token=... in a new tab
+- "Send motor command" widget that fires a JSON command into the MotorBridge
+  (same wire format as the LiveKit data channel)
+- "Tail logs" pane that shows the last lines of the robopark-pi-client service
+"""
+
+import argparse
+import json
+import logging
+import os
+import subprocess
+from pathlib import Path
+from typing import Optional
+
+import httpx
+from flask import Flask, jsonify, render_template_string, request
+
+logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(name)s: %(message)s")
+log = logging.getLogger("robopark-pi.ui")
+
+app = Flask(__name__)
+
+# Lazy-loaded MotorBridge import so the UI can start even if the SDK is missing.
+_BRIDGE = None
+def _bridge():
+    global _BRIDGE
+    if _BRIDGE is None:
+        try:
+            from motor_bridge import MotorBridge
+            _BRIDGE = MotorBridge(
+                motor_server_url=os.environ.get("MOTOR_SERVER_URL", "http://127.0.0.1:8001"),
+                dry_run=os.environ.get("DRY_RUN_MOTORS", "0") == "1",
+            )
+        except Exception as e:
+            log.warning(f"MotorBridge unavailable: {e}")
+            _BRIDGE = None
+    return _BRIDGE
+
+STATE_FILE = Path(os.environ.get("STATE_FILE", "/etc/robopark/device.json"))
+
+
+def _load_device() -> dict:
+    if not STATE_FILE.exists():
+        return {}
+    try:
+        return json.loads(STATE_FILE.read_text())
+    except Exception as e:
+        log.warning(f"could not read {STATE_FILE}: {e}")
+        return {}
+
+
+def _read_service_log(lines: int = 60) -> str:
+    try:
+        out = subprocess.run(
+            ["journalctl", "-u", "robopark-pi-client", "-n", str(lines), "--no-pager", "-o", "cat"],
+            capture_output=True, text=True, timeout=5,
+        )
+        return out.stdout
+    except Exception as e:
+        return f"(could not read journal: {e})"
+
+
+HTML = r"""
+<!doctype html>
+<html><head>
+<title>RoboPark Pi Console</title>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width,initial-scale=1">
+<style>
+  * { box-sizing: border-box; }
+  body { font: 14px/1.4 -apple-system, system-ui, Segoe UI, sans-serif;
+         background: #0f172a; color: #e2e8f0; margin: 0; padding: 24px; }
+  h1 { margin: 0 0 8px; }
+  h2 { margin: 24px 0 8px; font-size: 16px; color: #94a3b8; text-transform: uppercase; letter-spacing: 1px; }
+  .card { background: #1e293b; border: 1px solid #334155; border-radius: 8px; padding: 16px; margin-bottom: 16px; }
+  .row { display: flex; gap: 12px; align-items: center; flex-wrap: wrap; }
+  .pill { display: inline-block; padding: 3px 10px; border-radius: 999px; font-size: 12px; font-weight: 600; }
+  .pill.green  { background: #14532d; color: #86efac; }
+  .pill.red    { background: #7f1d1d; color: #fca5a5; }
+  .pill.gray   { background: #1f2937; color: #d1d5db; }
+  .pill.yellow { background: #78350f; color: #fde68a; }
+  .pill.blue   { background: #1e3a8a; color: #bfdbfe; }
+  button { background: #2563eb; color: white; border: 0; padding: 8px 16px;
+           border-radius: 6px; font-size: 14px; cursor: pointer; }
+  button:hover { background: #1d4ed8; }
+  button:disabled { background: #334155; color: #94a3b8; cursor: not-allowed; }
+  button.danger  { background: #dc2626; }  button.danger:hover  { background: #b91c1c; }
+  button.success { background: #16a34a; }  button.success:hover { background: #15803d; }
+  button.muted   { background: #475569; }  button.muted:hover   { background: #334155; }
+  pre { background: #020617; color: #e2e8f0; padding: 12px; border-radius: 6px;
+        overflow-x: auto; font-size: 12px; line-height: 1.4; }
+  input, select { background: #0f172a; color: #e2e8f0; border: 1px solid #334155;
+                  padding: 6px 10px; border-radius: 4px; font: inherit; }
+  .status { display: flex; gap: 24px; flex-wrap: wrap; }
+  .status div { min-width: 140px; }
+  .status b { display: block; font-size: 12px; color: #94a3b8; margin-bottom: 2px; }
+  .grid { display: grid; grid-template-columns: 1fr 1fr; gap: 16px; }
+  @media (max-width: 700px) { .grid { grid-template-columns: 1fr; } }
+  .small { font-size: 12px; color: #94a3b8; }
+  .mono  { font-family: ui-monospace, Menlo, Consolas, monospace; }
+</style>
+</head><body>
+<h1>🤖 RoboPark Pi Console</h1>
+<p class="small" id="hostname">ceopi1</p>
+
+<div class="card">
+  <h2>This device</h2>
+  <div class="status" id="status">
+    <div><b>Device ID</b><span class="mono" id="device_id">—</span></div>
+    <div><b>Status</b><span id="status_pill" class="pill gray">…</span></div>
+    <div><b>Last heartbeat</b><span id="last_hb" class="mono">—</span></div>
+    <div><b>Motor server</b><span id="motor_url" class="mono">—</span></div>
+  </div>
+</div>
+
+<div class="grid">
+  <div class="card">
+    <h2>Scheduler</h2>
+    <div class="status">
+      <div><b>URL</b><span class="mono" id="sched_url">—</span></div>
+      <div><b>Production mode</b><span id="prod_pill" class="pill gray">…</span></div>
+      <div><b>LiveKit</b><span id="lk_pill" class="pill gray">…</span></div>
+    </div>
+    <div class="row" style="margin-top:12px">
+      <button id="prod_toggle" class="muted">Toggle production mode</button>
+      <button id="refresh" class="muted">Refresh</button>
+    </div>
+  </div>
+
+  <div class="card">
+    <h2>LiveKit — join conversation</h2>
+    <p class="small">Asks the scheduler for a short-lived token, then opens
+       <code>meet.livekit.io</code> in a new tab. You can publish mic + cam and
+       hear the agent; the Pi's audio hardware is forwarded by the main client.</p>
+    <div class="row">
+      <label>Room <input id="room" value="robopark-pi-test" class="mono" style="width:200px"></label>
+      <label>Identity <input id="identity" value="" class="mono" style="width:200px"
+                              placeholder="auto"></label>
+    </div>
+    <div class="row" style="margin-top:12px">
+      <button id="join" class="success">Join conversation</button>
+    </div>
+    <p class="small" id="join_msg" style="margin-top:8px"></p>
+  </div>
+</div>
+
+<div class="card">
+  <h2>Motor test</h2>
+  <p class="small">Fires the same JSON payload the LiveKit data channel would send
+     into the local motor bridge. No wiring needed.</p>
+  <div class="row">
+    <label>Motor <input id="motor_name" value="arm" class="mono" style="width:120px"></label>
+    <label>Seconds <input id="motor_secs" value="2" type="number" min="1" max="30" style="width:80px"></label>
+    <button id="motor_go" class="success">Move</button>
+    <button id="motor_stop" class="danger">Stop all</button>
+  </div>
+  <p class="small" id="motor_msg" style="margin-top:8px"></p>
+</div>
+
+<div class="card">
+  <h2>Service log (last 60 lines)</h2>
+  <pre id="log">(loading…)</pre>
+  <div class="row" style="margin-top:8px">
+    <button id="log_refresh" class="muted">Refresh log</button>
+  </div>
+</div>
+
+<script>
+async function fetchJSON(url, opts) {
+  const r = await fetch(url, opts);
+  if (!r.ok) throw new Error("HTTP " + r.status + " " + (await r.text()).slice(0, 200));
+  return r.json();
+}
+
+function fmtTime(iso) {
+  if (!iso) return "—";
+  try { return new Date(iso).toLocaleString(); } catch { return iso; }
+}
+
+async function refresh() {
+  try {
+    const s = await fetchJSON("/api/status");
+    document.getElementById("device_id").textContent = s.device_id || "(not enrolled)";
+    const pill = document.getElementById("status_pill");
+    pill.textContent = s.status || "unknown";
+    pill.className = "pill " + (s.status === "online" ? "green"
+      : s.status === "offline" ? "red" : "gray");
+    document.getElementById("last_hb").textContent = fmtTime(s.last_heartbeat);
+    document.getElementById("motor_url").textContent = s.motor_server_url || "—";
+    document.getElementById("sched_url").textContent = s.scheduler_url;
+    const pp = document.getElementById("prod_pill");
+    pp.textContent = s.production_mode ? "ON" : "OFF";
+    pp.className = "pill " + (s.production_mode ? "green" : "gray");
+    const lp = document.getElementById("lk_pill");
+    if (s.livekit_configured) { lp.textContent = s.livekit_url || "set"; lp.className = "pill blue"; }
+    else { lp.textContent = "NOT SET"; lp.className = "pill yellow"; }
+    if (!document.getElementById("identity").value) {
+      document.getElementById("identity").placeholder = "pi-ui-" + (s.device_id || "anon");
+    }
+  } catch (e) { console.error(e); }
+}
+
+async function toggleProd() {
+  const s = await fetchJSON("/api/status");
+  await fetchJSON("/api/production_mode", { method: "PUT",
+    headers: {"Content-Type":"application/json"},
+    body: JSON.stringify({ production_mode: !s.production_mode }) });
+  await refresh();
+}
+
+async function join() {
+  const room = document.getElementById("room").value.trim() || "robopark-pi-test";
+  const identity = document.getElementById("identity").value.trim()
+                || "pi-ui-" + Math.random().toString(36).slice(2,8);
+  const msg = document.getElementById("join_msg");
+  msg.textContent = "requesting token...";
+  try {
+    const t = await fetchJSON("/api/join", { method: "POST",
+      headers: {"Content-Type":"application/json"},
+      body: JSON.stringify({ room, identity }) });
+    const url = "https://meet.livekit.io/custom?liveKitUrl="
+              + encodeURIComponent(t.url) + "&token=" + encodeURIComponent(t.token);
+    window.open(url, "_blank");
+    msg.textContent = "Token expires " + fmtTime(t.expires_at) + ". Opened in a new tab.";
+  } catch (e) { msg.textContent = "error: " + e.message; }
+}
+
+async function motor(cmd) {
+  const msg = document.getElementById("motor_msg");
+  try {
+    const r = await fetchJSON("/api/motor", { method: "POST",
+      headers: {"Content-Type":"application/json"}, body: JSON.stringify(cmd) });
+    msg.textContent = JSON.stringify(r);
+  } catch (e) { msg.textContent = "error: " + e.message; }
+}
+
+async function refreshLog() {
+  try {
+    const r = await fetchJSON("/api/log");
+    document.getElementById("log").textContent = r.lines || "(empty)";
+  } catch (e) { document.getElementById("log").textContent = "error: " + e.message; }
+}
+
+document.getElementById("refresh").onclick = refresh;
+document.getElementById("prod_toggle").onclick = toggleProd;
+document.getElementById("join").onclick = join;
+document.getElementById("motor_go").onclick = () => motor({
+  op: "motor",
+  name: document.getElementById("motor_name").value,
+  seconds: parseInt(document.getElementById("motor_secs").value, 10) || 2,
+});
+document.getElementById("motor_stop").onclick = () => motor({ op: "stop" });
+document.getElementById("log_refresh").onclick = refreshLog;
+
+refresh();
+refreshLog();
+setInterval(refresh, 5000);
+setInterval(refreshLog, 5000);
+</script>
+</body></html>
+"""
+
+
+@app.route("/")
+def index():
+    return render_template_string(HTML)
+
+
+@app.route("/api/status")
+def api_status():
+    dev = _load_device()
+    out = {
+        "scheduler_url": app.config["SCHEDULER_URL"],
+        "device_id": dev.get("device_id"),
+        "status": None,
+        "last_heartbeat": None,
+        "motor_server_url": dev.get("motor_server_url"),
+        "production_mode": None,
+        "livekit_configured": False,
+        "livekit_url": None,
+    }
+    try:
+        with httpx.Client(timeout=5.0) as c:
+            r = c.get(f"{app.config['SCHEDULER_URL']}/api/settings")
+            if r.status_code == 200:
+                s = r.json()
+                out["production_mode"] = bool(s.get("production_mode"))
+            r2 = c.get(f"{app.config['SCHEDULER_URL']}/api/livekit/config")
+            if r2.status_code == 200:
+                lk = r2.json()
+                out["livekit_configured"] = bool(lk.get("url") and lk.get("has_secret"))
+                out["livekit_url"] = lk.get("url")
+            if dev.get("device_id"):
+                r3 = c.get(f"{app.config['SCHEDULER_URL']}/api/devices/{dev['device_id']}")
+                if r3.status_code == 200:
+                    d = r3.json()
+                    out["status"] = d.get("status")
+                    out["last_heartbeat"] = d.get("last_heartbeat")
+    except Exception as e:
+        log.warning(f"status fetch failed: {e}")
+    return jsonify(out)
+
+
+@app.route("/api/production_mode", methods=["PUT"])
+def api_prod_mode():
+    payload = request.get_json(force=True) or {}
+    new = bool(payload.get("production_mode", False))
+    with httpx.Client(timeout=5.0) as c:
+        r = c.put(f"{app.config['SCHEDULER_URL']}/api/settings",
+                  json={"production_mode": new})
+        r.raise_for_status()
+    return jsonify({"status": "ok", "production_mode": new})
+
+
+@app.route("/api/join", methods=["POST"])
+def api_join():
+    payload = request.get_json(force=True) or {}
+    room = payload.get("room") or "robopark-pi-test"
+    identity = payload.get("identity") or ("pi-ui-" + os.urandom(3).hex())
+    with httpx.Client(timeout=5.0) as c:
+        r = c.post(f"{app.config['SCHEDULER_URL']}/api/livekit/token",
+                   json={"room": room, "identity": identity,
+                         "name": "Pi UI", "ttl_seconds": 3600})
+        if r.status_code != 200:
+            return jsonify({"error": r.text}), r.status_code
+        return jsonify(r.json())
+
+
+@app.route("/api/motor", methods=["POST"])
+def api_motor():
+    payload = request.get_json(force=True) or {}
+    bridge = _bridge()
+    if bridge is None:
+        return jsonify({"error": "motor bridge not loaded (import failed)"}), 503
+    import asyncio
+    result = asyncio.run(bridge.handle_command(json.dumps(payload)))
+    return jsonify({"result": result})
+
+
+@app.route("/api/log")
+def api_log():
+    return jsonify({"lines": _read_service_log(60)})
+
+
+def parse_args():
+    p = argparse.ArgumentParser()
+    p.add_argument("--scheduler-url", required=True)
+    p.add_argument("--host", default="0.0.0.0")
+    p.add_argument("--port", type=int, default=8081)
+    p.add_argument("--debug", action="store_true")
+    return p.parse_args()
+
+
+def main():
+    args = parse_args()
+    app.config["SCHEDULER_URL"] = args.scheduler_url.rstrip("/")
+    log.info(f"Pi UI on http://{args.host}:{args.port}/ -> scheduler {app.config['SCHEDULER_URL']}")
+    app.run(host=args.host, port=args.port, debug=args.debug, threaded=True)
+
+
+if __name__ == "__main__":
+    main()

package/packages/robopark/pi-client/requirements.txt

@@ -0,0 +1,10 @@
+httpx>=0.27
+flask>=3.0
+# jq is required by join_convo.sh; install with: apt-get install -y jq
+# LiveKit + media (install on Pi only; client works without these)
+# livekit>=0.10
+# livekit-api>=0.10
+# sounddevice>=0.4
+# numpy
+# opencv-python>=4.8
+# av>=11

package/packages/robopark/pi-client/robopark-pi-client.service

@@ -0,0 +1,26 @@
+[Unit]
+Description=RoboPark Pi Client
+After=network-online.target
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=robopark
+Group=robopark
+WorkingDirectory=/opt/robopark-pi-client
+ExecStart=/opt/robopark-pi-client/.venv/bin/python /opt/robopark-pi-client/client.py \
+  --scheduler-url http://192.168.1.241:8080 \
+  --name ceopi1 \
+  --tailscale-ip "" \
+  --lan-ip 192.168.1.159 \
+  --motor-server-url http://127.0.0.1:8001 \
+  --livekit-url "" \
+  --state-file /etc/robopark/device.json \
+  --heartbeat-interval 10 \
+  --dry-run-motors \
+  --join-room
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target

package/packages/robopark/pi-client/robopark-pi-ui.service

@@ -0,0 +1,24 @@
+[Unit]
+Description=RoboPark Pi UI (testing/console)
+After=network-online.target robopark-pi-client.service
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=robopark
+Group=robopark
+WorkingDirectory=/opt/robopark-pi-client
+# DRY_RUN_MOTORS=1 makes the motor widget log but not POST to the motor server.
+# Remove that env var once RoboVisionAI_PI is running on the Pi.
+Environment=DRY_RUN_MOTORS=1
+Environment=MOTOR_SERVER_URL=http://127.0.0.1:8001
+Environment=STATE_FILE=/etc/robopark/device.json
+ExecStart=/opt/robopark-pi-client/.venv/bin/python /opt/robopark-pi-client/pi_ui.py \
+  --scheduler-url http://192.168.1.241:8080 \
+  --host 0.0.0.0 \
+  --port 8081
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target

package/packages/robopark/pi-client/smoke_bridge.py

@@ -0,0 +1,15 @@
+"""Drive a fake LiveKit data-channel payload through the MotorBridge to prove
+the wire format end-to-end. This is exactly what livekit_bridge.run_livekit
+will call when the agent publishes {"op":"motor", ...} on the data channel."""
+import asyncio
+from motor_bridge import MotorBridge
+
+async def main():
+    bridge = MotorBridge("http://127.0.0.1:8765")
+    print("--> ping:", await bridge.handle_command('{"op":"ping"}'))
+    print("--> motor arm 2s:", await bridge.handle_command('{"op":"motor","name":"arm","seconds":2}'))
+    await asyncio.sleep(0.2)
+    print("--> stop:", await bridge.handle_command('{"op":"stop"}'))
+    print("--> bogus:", await bridge.handle_command('not json'))
+
+asyncio.run(main())

package/packages/robopark/pi-client/stub_motor_server.py

@@ -0,0 +1,46 @@
+"""Tiny stub of the RoboVisionAI_PI motor server for local smoke tests.
+Listens on :8765 and logs every /trigger-motor and /stop-motors call.
+Run with:  python stub_motor_server.py
+"""
+from http.server import BaseHTTPRequestHandler, HTTPServer
+import json, threading, time
+
+LOCK = threading.Lock()
+ACTIVE = None  # (motor_name, until_ts)
+
+class H(BaseHTTPRequestHandler):
+    def log_message(self, fmt, *a): pass
+    def _send(self, code, body):
+        self.send_response(code); self.send_header("Content-Type","application/json"); self.end_headers()
+        self.wfile.write(json.dumps(body).encode())
+    def do_POST(self):
+        global ACTIVE
+        ln = int(self.headers.get("Content-Length","0"))
+        body = json.loads(self.rfile.read(ln) or b"{}")
+        if self.path == "/trigger-motor":
+            with LOCK:
+                now = time.time()
+                if ACTIVE and ACTIVE[1] > now:
+                    self._send(409, {"error":"busy", "active": ACTIVE[0]})
+                    return
+                name = body["motor_name"]; secs = int(body["seconds"])
+                ACTIVE = (name, now + secs)
+            print(f"[stub] TRIGGER {name} for {secs}s")
+            threading.Timer(secs, lambda: (print(f"[stub] DONE {name}"), _clear(name))).start()
+            self._send(200, {"ok": True, "motor": name, "seconds": secs})
+        elif self.path == "/stop-motors":
+            with LOCK:
+                ACTIVE = None
+            print("[stub] STOP all")
+            self._send(200, {"ok": True})
+        else:
+            self._send(404, {"error":"unknown path"})
+
+def _clear(name):
+    global ACTIVE
+    with LOCK:
+        if ACTIVE and ACTIVE[0] == name:
+            ACTIVE = None
+
+if __name__ == "__main__":
+    HTTPServer(("127.0.0.1", 8765), H).serve_forever()