infinicode 2.8.46 → 2.8.51

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

@@ -5867,7 +5867,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
         var effPresetOptions='', effVoiceOptions='';
         for(var ci=0;ci<characterPresets.length;ci++){ var cp=characterPresets[ci]; effPresetOptions += '<option value="'+esc(cp.id||'')+'"'+((cp.id===n.id)?' selected':'')+'>'+esc(cp.name||cp.id||'')+'</option>'; }
         for(var vi=0;vi<voiceStacks.length;vi++){ var vs=voiceStacks[vi]; effVoiceOptions += '<option value="'+esc(vs.id||'')+'">'+esc(vs.name||vs.id||'')+'</option>'; }
-        var devForPm=schedulerDevice(n)||{};
+        var devForPm=schedulerDevice(n)||{};
         b.innerHTML =
           sect('👁 camera feed',
             '<div class="pk-cam" id="pk-cam"><canvas id="pk-camcv" width="384" height="216"></canvas>'
@@ -5895,7 +5895,12 @@ button.act:disabled{opacity:0.5;cursor:default;}
           + buildShellSection(schedId(n))
           + sect('🎭 character / voice','<div class="pk-note" id="pk-eff-note" style="margin-bottom:0.45rem;">loading effective config…</div><div class="rp-field"><label>Character preset</label><select class="rp-char" id="pk-eff-char" data-robot="'+esc(schedId(n))+'">'+effPresetOptions+'</select></div><div class="rp-field"><label>Voice stack</label><select class="rp-voice" id="pk-eff-voice" data-robot="'+esc(schedId(n))+'">'+effVoiceOptions+'</select></div><button class="rp-btn" id="pk-eff-save" data-robot="'+esc(schedId(n))+'" style="margin-top:0.35rem;">Set up on this robot</button>');
          b.innerHTML += sect('Camera + audio devices','<div class="rp-field"><label>Search devices</label><input id="pk-device-search" placeholder="camera, USB, microphone, HDMI..." autocomplete="off"></div><div class="rp-field"><label>Camera input</label><select id="pk-video-device"></select></div><div class="rp-field"><label>Microphone input</label><select id="pk-audio-input"></select></div><div class="rp-field"><label>Speaker / output inventory</label><select id="pk-audio-output"></select></div><div class="rp-field"><label>Preset greeting phrases <span class="pk-note">one per line, cached per voice</span></label><textarea id="pk-greeting-phrases" rows="3" placeholder="Hi, I am Jaguar! / Welcome to RoboPark."></textarea></div><button class="rp-btn" id="pk-device-save" style="margin-top:0.35rem">Save device selection + greetings</button><div class="pk-note" id="pk-device-note">waiting for robot heartbeat inventory</div>');
-         refreshDeviceSelectors(n);
+          // Put live hardware selection beside the camera and audio tests,
+          // ahead of persona and service administration in the Park drawer.
+          var deviceInput=$('pk-device-search'), deviceSection=deviceInput&&deviceInput.closest('.pk-sect');
+          var speakerTest=$('pk-spk-test'), speakerSection=speakerTest&&speakerTest.closest('.pk-sect');
+          if(deviceSection && speakerSection) speakerSection.after(deviceSection);
+          refreshDeviceSelectors(n);
          b.innerHTML += '<div class="pk-ctl" style="margin-top:0.5rem"><button class="rp-btn danger" id="pk-recover" data-robot="'+esc(n.name)+'">Recover robot</button><span class="pk-note" style="margin:0">clears stale sessions and queued triggers for this robot</span></div>';
          var deviceSearch=$('pk-device-search'); if(deviceSearch) deviceSearch.addEventListener('input', function(){ refreshDeviceSelectors(n); });
          var deviceSave=$('pk-device-save'); if(deviceSave) deviceSave.addEventListener('click', function(){ saveDeviceSelectors(n); });

package/dist/robopark/enroll.js

@@ -9,7 +9,7 @@ import { existsSync, readFileSync, writeFileSync, mkdirSync } from 'node:fs';
 import { homedir, hostname } from 'node:os';
 import { join } from 'node:path';
 import chalk from 'chalk';
-import { findPython, findSchedulerPath, ensurePythonDeps } from './python-env.js';
+import { findPython, findSchedulerPath, prepareRobotPython } from './python-env.js';
 const ROBOPARK_DIR = join(homedir(), '.robopark');
 const ENROLLMENT_FILE = join(ROBOPARK_DIR, 'enrollment_token');
 function ensureDir() {
@@ -39,8 +39,8 @@ export async function roboparkEnroll(opts) {
         console.log(chalk.red('  ✗ could not find preview_agent.py'));
         process.exit(1);
     }
-    const python = findPython();
-    if (!ensurePythonDeps(python, script))
+    const python = prepareRobotPython(findPython(), script);
+    if (!python)
         process.exit(1);
     const args = [
         script,

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

@@ -11,6 +11,7 @@ export interface PreviewAgentOptions {
     visionWebhookPort?: string;
     visionTriggerCooldown?: string;
     visionSessionSeconds?: string;
+    robovisionUrl?: string;
     saveConfig?: boolean;
     foreground?: boolean;
 }

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

@@ -8,7 +8,7 @@ import { spawn } from 'node:child_process';
 import { hostname } from 'node:os';
 import chalk from 'chalk';
 import { discoverContext } from './discovery.js';
-import { findPython, findSchedulerPath, ensurePythonDeps } from './python-env.js';
+import { findPython, findSchedulerPath, prepareRobotPython } from './python-env.js';
 const DEFAULT_SCHEDULER_PORT = 8080;
 export async function roboparkPreviewAgent(opts) {
     const ctx = await discoverContext();
@@ -24,8 +24,8 @@ export async function roboparkPreviewAgent(opts) {
         console.log(chalk.red('  ✗ could not find preview_agent.py'));
         process.exit(1);
     }
-    const python = findPython();
-    if (!ensurePythonDeps(python, script))
+    const python = prepareRobotPython(findPython(), script);
+    if (!python)
         process.exit(1);
     const args = [
         script,
@@ -47,6 +47,8 @@ export async function roboparkPreviewAgent(opts) {
         args.push('--vision-trigger-cooldown', opts.visionTriggerCooldown);
     if (opts.visionSessionSeconds)
         args.push('--vision-session-seconds', opts.visionSessionSeconds);
+    if (opts.robovisionUrl)
+        args.push('--robovision-url', opts.robovisionUrl);
     if (opts.saveConfig)
         args.push('--save-config');
     console.log(chalk.bold('\n  robopark preview-agent'));

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

@@ -13,3 +13,9 @@ export declare function findPython(): string;
  * (e.g. app_pi_clean.py + requirements_pi_unified.txt).
  */
 export declare function ensurePythonDeps(python: string, scriptPath: string, modules?: string[], reqFile?: string): boolean;
+/**
+ * Create and maintain the isolated robot runtime at ~/.robopark/venv.
+ * System site packages stay visible so Pi apt packages such as OpenCV,
+ * PyAudio and Picamera2 do not need to be rebuilt by pip on ARM.
+ */
+export declare function prepareRobotPython(basePython: string, scriptPath: string, modules?: string[], reqFile?: string): string | null;

package/dist/robopark/python-env.js

@@ -3,8 +3,10 @@
  * and `vision-agent`, which spawn preview_agent.py / app_pi_clean.py.
  */
 import { execSync, spawnSync } from 'node:child_process';
-import { existsSync } from 'node:fs';
+import { existsSync, mkdirSync, readFileSync, writeFileSync } from 'node:fs';
+import { homedir } from 'node:os';
 import { join } from 'node:path';
+import { createHash } from 'node:crypto';
 import chalk from 'chalk';
 /** Modules preview_agent.py imports — kept in sync with requirements-robot.txt. */
 const REQUIRED_MODULES = ['httpx', 'cv2', 'pyaudio', 'livekit'];
@@ -52,6 +54,12 @@ export function findPython() {
     }
     return process.platform === 'win32' ? 'python' : 'python3';
 }
+const ROBOPARK_VENV = join(homedir(), '.robopark', 'venv');
+function venvPythonPath() {
+    return process.platform === 'win32'
+        ? join(ROBOPARK_VENV, 'Scripts', 'python.exe')
+        : join(ROBOPARK_VENV, 'bin', 'python');
+}
 function missingModules(python, modules) {
     return modules.filter(mod => {
         const res = spawnSync(python, ['-c', `import ${mod}`], { stdio: 'ignore' });
@@ -89,3 +97,44 @@ export function ensurePythonDeps(python, scriptPath, modules = REQUIRED_MODULES,
     }
     return true;
 }
+/**
+ * Create and maintain the isolated robot runtime at ~/.robopark/venv.
+ * System site packages stay visible so Pi apt packages such as OpenCV,
+ * PyAudio and Picamera2 do not need to be rebuilt by pip on ARM.
+ */
+export function prepareRobotPython(basePython, scriptPath, modules = REQUIRED_MODULES, reqFile = 'requirements-robot.txt') {
+    const reqPath = join(scriptPath, '..', reqFile);
+    if (!existsSync(reqPath)) {
+        console.log(chalk.red(`  ✗ ${reqFile} not found next to ${scriptPath}`));
+        return null;
+    }
+    const python = venvPythonPath();
+    if (!existsSync(python)) {
+        console.log(chalk.dim(`  creating RoboPark Python environment: ${ROBOPARK_VENV}`));
+        mkdirSync(join(homedir(), '.robopark'), { recursive: true });
+        const created = spawnSync(basePython, ['-m', 'venv', '--system-site-packages', ROBOPARK_VENV], { stdio: 'inherit' });
+        if (created.status !== 0 || !existsSync(python)) {
+            console.log(chalk.red('  ✗ could not create ~/.robopark/venv. On Debian/Raspberry Pi install python3-venv, then retry.'));
+            return null;
+        }
+    }
+    const requirements = readFileSync(reqPath, 'utf8');
+    const fingerprint = createHash('sha256').update(requirements).digest('hex');
+    const marker = join(ROBOPARK_VENV, `.robopark-${reqFile}.sha256`);
+    const installedFingerprint = existsSync(marker) ? readFileSync(marker, 'utf8').trim() : '';
+    if (installedFingerprint !== fingerprint || missingModules(python, modules).length > 0) {
+        console.log(chalk.dim(`  syncing RoboPark Python dependencies from ${reqFile}…`));
+        const install = spawnSync(python, ['-m', 'pip', 'install', '--upgrade', '-r', reqPath], { stdio: 'inherit' });
+        if (install.status !== 0) {
+            console.log(chalk.red(`  ✗ dependency install failed in ${ROBOPARK_VENV}`));
+            return null;
+        }
+        writeFileSync(marker, `${fingerprint}\n`);
+    }
+    const stillMissing = missingModules(python, modules);
+    if (stillMissing.length) {
+        console.log(chalk.red(`  ✗ venv is still missing: ${stillMissing.join(', ')}`));
+        return null;
+    }
+    return python;
+}

package/dist/robopark/setup.js

@@ -225,6 +225,8 @@ async function setupRobot(config, opts, ctx, internal) {
     // 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;
+    if (visionEnabled)
+        previewAgentArgs.push('--robovision-url', 'http://127.0.0.1:5000');
     const visionAgentArgs = ['vision-agent'];
     console.log(chalk.dim('  robot command:'));
     console.log('  ' + chalk.cyan(`infinicode ${args.join(' ')}`));

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

@@ -7,7 +7,7 @@
  */
 import { spawn } from 'node:child_process';
 import chalk from 'chalk';
-import { findPython, findVisionPath, ensurePythonDeps, VISION_REQUIRED_MODULES } from './python-env.js';
+import { findPython, findVisionPath, prepareRobotPython, 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() {
@@ -19,12 +19,13 @@ export async function roboparkVisionAgent(opts) {
         console.log(chalk.red('  ✗ could not find app_pi_clean.py'));
         process.exit(1);
     }
-    const python = findPython();
+    const basePython = 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))
+    const python = prepareRobotPython(basePython, script, VISION_REQUIRED_MODULES, reqFile);
+    if (!python)
         process.exit(1);
     const port = opts.port ?? String(DEFAULT_VISION_PORT);
     const webhookUrl = opts.motionWebhookUrl ?? `http://127.0.0.1:${DEFAULT_MOTION_WEBHOOK_PORT}/`;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.46",
+  "version": "2.8.51",
   "description": "OpenKernel — provider-agnostic AI execution kernel. Native coding agent + mission-driven execution runtime.",
   "type": "module",
   "main": "./dist/kernel/index.js",

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

@@ -20,13 +20,15 @@
 # Subsequent runs (token is in device.json):
 #   python client.py --scheduler-url http://100.64.1.5:8080
 
-import argparse
-import asyncio
-import json
-import logging
-import os
-import signal
-import sys
+import argparse
+import asyncio
+import glob
+import json
+import logging
+import os
+import signal
+import subprocess
+import sys
 import time
 from pathlib import Path
 from typing import Optional
@@ -39,7 +41,45 @@ logging.basicConfig(
     level=logging.INFO,
     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
 )
-log = logging.getLogger("robopark-pi")
+log = logging.getLogger("robopark-pi")
+
+
+def get_device_inventory() -> dict:
+    """Report real Linux media devices so the remote dashboard can select them."""
+    inventory = {
+        "video": [{"id": "auto", "name": "Auto detect"}, {"id": "none", "name": "Disable camera"}],
+        "audio_input": [{"id": "default", "name": "System default input"}],
+        "audio_output": [{"id": "default", "name": "System default output"}],
+        "platform": sys.platform,
+    }
+    for path in sorted(glob.glob("/dev/video*")):
+        inventory["video"].append({"id": path, "name": path, "backend": "v4l2"})
+
+    try:
+        import pyaudio
+        pa = pyaudio.PyAudio()
+        for index in range(pa.get_device_count()):
+            info = pa.get_device_info_by_index(index)
+            name = str(info.get("name", f"Audio device {index}"))
+            item = {"id": str(index), "name": name, "host_api": str(info.get("hostApi", ""))}
+            if info.get("maxInputChannels", 0) > 0:
+                inventory["audio_input"].append(item.copy())
+            if info.get("maxOutputChannels", 0) > 0:
+                inventory["audio_output"].append(item.copy())
+        pa.terminate()
+    except Exception as exc:
+        # Keep the device visible even when PortAudio is not installed; ALSA
+        # names are still useful for an operator diagnosing a Pi remotely.
+        log.debug("PyAudio inventory unavailable: %s", exc)
+        for command, key, kind in (("arecord", "audio_input", "input"), ("aplay", "audio_output", "output")):
+            try:
+                output = subprocess.run([command, "-L"], capture_output=True, text=True, timeout=3, check=False).stdout
+                for name in (line.strip() for line in output.splitlines()):
+                    if name and not name.startswith("(") and name not in {x["id"] for x in inventory[key]}:
+                        inventory[key].append({"id": name, "name": name, "backend": "alsa", "kind": kind})
+            except Exception:
+                pass
+    return inventory
 
 
 class PiClient:
@@ -56,7 +96,10 @@ class PiClient:
         self.heartbeat_interval = args.heartbeat_interval
         self.config_poll_interval = args.config_poll_interval
         self.join_room = args.join_room
-        self.room_name = args.room_name
+        self.room_name = args.room_name
+        self.video_device = args.video_device
+        self.audio_device = args.audio_device
+        self.audio_output_device = args.audio_output_device
 
         self.device_id: Optional[str] = None
         self.device_token: Optional[str] = None
@@ -129,8 +172,12 @@ class PiClient:
         log.info(f"Enrolled as device_id={self.device_id}")
         self._save_state()
 
-    async def heartbeat(self):
-        body = {"status": "online", "ip": self.tailscale_ip or self.lan_ip}
+    async def heartbeat(self):
+        body = {
+            "status": "online",
+            "ip": self.tailscale_ip or self.lan_ip,
+            "device_inventory": get_device_inventory(),
+        }
         async with httpx.AsyncClient(timeout=10.0) as c:
             r = await c.post(
                 f"{self.scheduler_url}/api/devices/{self.device_id}/heartbeat",
@@ -186,7 +233,10 @@ class PiClient:
             production_mode_provider=lambda: self.production_mode,
             scheduler_url=self.scheduler_url,
             device_id=self.device_id,
-            device_token=self.device_token,
+            device_token=self.device_token,
+            video_device=self.video_device,
+            audio_device=self.audio_device,
+            audio_output_device=self.audio_output_device,
         )
 
     # ---- main loop ------------------------------------------------------
@@ -234,8 +284,14 @@ class PiClient:
                     if int(time.time()) % int(self.config_poll_interval) < int(self.heartbeat_interval):
                         cfg = await self.fetch_config()
                         self.production_mode = bool(cfg.get("production_mode", False))
-                        if cfg.get("character_id"):
-                            self.character_id = cfg["character_id"]
+                        if cfg.get("character_id"):
+                            self.character_id = cfg["character_id"]
+                        if cfg.get("video_device") is not None:
+                            self.video_device = cfg["video_device"]
+                        if cfg.get("audio_device") is not None:
+                            self.audio_device = cfg["audio_device"]
+                        if cfg.get("audio_output_device") is not None:
+                            self.audio_output_device = cfg["audio_output_device"]
                 except Exception as e:
                     log.debug(f"Config poll error: {e}")
 
@@ -267,8 +323,11 @@ def parse_args() -> argparse.Namespace:
                    help="Base URL of the local RoboVisionAI_PI motor server")
     p.add_argument("--livekit-url", default=None, help="e.g. ws://100.64.1.5:7880")
     p.add_argument("--character-id", default=None, help="Override character assignment")
-    p.add_argument("--room-name", default="robopark-pi-standby",
-                   help="LiveKit room to join")
+    p.add_argument("--room-name", default="robopark-pi-standby",
+                   help="LiveKit room to join")
+    p.add_argument("--video-device", default="auto", help="Camera path/index, picamera, or auto")
+    p.add_argument("--audio-device", default="default", help="Microphone name/index or default")
+    p.add_argument("--audio-output-device", default="default", help="Speaker name/index or default")
     p.add_argument("--heartbeat-interval", type=float, default=10.0)
     p.add_argument("--config-poll-interval", type=float, default=30.0)
     p.add_argument("--join-room", action="store_true",
@@ -302,4 +361,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

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

@@ -75,9 +75,12 @@ async def run_livekit(
     on_motor_command: Callable[[str | bytes], Awaitable[str]],
     stop_event: asyncio.Event,
     production_mode_provider: Callable[[], bool],
-    scheduler_url: str = "",
-    device_id: str = "",
-    device_token: str = "",
+    scheduler_url: str = "",
+    device_id: str = "",
+    device_token: str = "",
+    video_device: str = "auto",
+    audio_device: str = "default",
+    audio_output_device: str = "default",
 ):
     """Join a LiveKit room, publish mic + cam, subscribe to data channel.
 
@@ -140,7 +143,8 @@ async def run_livekit(
                     try:
                         stream = rtc.AudioStream(track=track)
                         # Open output stream at 48kHz mono (Pi speaker)
-                        out = sd.OutputStream(samplerate=OUT_RATE, channels=1, dtype="int16", blocksize=0)
+                        output = None if str(audio_output_device).lower() in ("", "default", "auto") else audio_output_device
+                        out = sd.OutputStream(samplerate=OUT_RATE, channels=1, dtype="int16", blocksize=0, device=output)
                         out.start()
                         _active_streams[sid] = out
 
@@ -203,13 +207,16 @@ async def run_livekit(
             except Exception as e:
                 log.warning(f"sounddevice unavailable, skipping mic: {e}")
                 return
-            # The USB mic is ALSA device index 1 (1 in, 0 out). Default is output-only.
-            MIC_DEVICE = 1
-            try:
-                log.info(f"mic: opening device {MIC_DEVICE} ({sd.query_devices()[MIC_DEVICE]['name']})")
-            except Exception:
-                log.warning(f"mic: device {MIC_DEVICE} not found, trying default")
-                MIC_DEVICE = None
+            selected_mic = str(audio_device or "default")
+            MIC_DEVICE = None if selected_mic.lower() in ("", "default", "auto") else selected_mic
+            try:
+                if MIC_DEVICE is None:
+                    log.info("mic: opening system default input")
+                else:
+                    log.info(f"mic: opening device {MIC_DEVICE}")
+            except Exception:
+                log.warning(f"mic: device {MIC_DEVICE} not found, trying default")
+                MIC_DEVICE = None
             try:
                 source = rtc.AudioSource(sample_rate=16000, num_channels=1)
                 track = rtc.LocalAudioTrack.create_audio_track("mic", source)
@@ -241,9 +248,11 @@ async def run_livekit(
             except Exception as e:
                 log.warning(f"opencv unavailable, skipping camera: {e}")
                 return
-            cap = cv2.VideoCapture(0, cv2.CAP_V4L2)
-            if not cap.isOpened():
-                log.warning("camera /dev/video0 not available")
+            selected_camera = str(video_device or "auto")
+            camera_index = 0 if selected_camera.lower() in ("", "auto", "default", "first") else selected_camera
+            cap = cv2.VideoCapture(camera_index, cv2.CAP_V4L2)
+            if not cap.isOpened():
+                log.warning(f"camera {selected_camera} not available")
                 return
             cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
             cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
@@ -286,4 +295,4 @@ async def run_livekit(
                 except Exception: pass
             try: await room.disconnect()
             except Exception: pass
-            log.info("left room, will loop to reconnect")
+            log.info("left room, will loop to reconnect")

package/packages/robopark/scheduler/main.py

@@ -4235,6 +4235,7 @@ async def dashboard():
                             const savedVideo = device?.video_device || 'auto';
                             const savedAudio = device?.audio_device || 'default';
                             const hardware = device?.device_inventory || {};
+                            const inventoryReported = !!device?.device_inventory;
                             const videoOptions = (hardware.video || []).filter(Boolean);
                             const audioOptions = (hardware.audio_input || []).filter(Boolean);
                             const audioOutputOptions = (hardware.audio_output || []).filter(Boolean);
@@ -4251,6 +4252,7 @@ async def dashboard():
                             map[robot.id] = {
                                 deviceId: device?.id || null,
                                 robotName: robot.name,
+                                inventoryReported,
                                 selectedVideo: savedVideo,
                                 selectedAudio: savedAudio,
                                 selectedAudioOutput: device?.audio_output_device || 'default',
@@ -5133,6 +5135,21 @@ async def dashboard():
                                             <span>Robot production: <strong :class="devices.find(d => d.id === deviceInventory[robot.id].deviceId)?.production_mode ? 'text-green-400' : 'text-gray-400'">{{ devices.find(d => d.id === deviceInventory[robot.id].deviceId)?.production_mode ? 'ON' : 'OFF' }}</strong></span>
                                             <button @click="toggleDeviceProduction(robot.id)" class="px-2 py-1 rounded bg-gray-600 hover:bg-gray-500">Toggle</button>
                                         </div>
+                                        <div v-if="deviceInventory[robot.id]" class="mb-3 rounded bg-gray-800/70 p-2">
+                                            <div class="flex items-center justify-between mb-2 text-xs font-semibold text-gray-300">
+                                                <span>Robot Hardware</span>
+                                                <span :class="deviceInventory[robot.id].inventoryReported ? 'text-green-300' : 'text-amber-300'">{{ deviceInventory[robot.id].inventoryReported ? 'inventory reported' : 'waiting for heartbeat' }}</span>
+                                            </div>
+                                            <div class="grid grid-cols-3 gap-2 text-sm">
+                                                <div><label class="text-xs text-gray-500">Camera</label><select v-model="deviceInventory[robot.id].selectedVideo" @change="updateDeviceMedia(robot.id)" class="w-full bg-gray-700 rounded px-2 py-1 text-xs"><option v-for="opt in deviceInventory[robot.id].videoOptions" :key="deviceInventory[robot.id].optionId(opt)" :value="deviceInventory[robot.id].optionId(opt)">{{ deviceInventory[robot.id].optionName(opt) }}</option></select></div>
+                                                <div><label class="text-xs text-gray-500">Microphone</label><select v-model="deviceInventory[robot.id].selectedAudio" @change="updateDeviceMedia(robot.id)" class="w-full bg-gray-700 rounded px-2 py-1 text-xs"><option v-for="opt in deviceInventory[robot.id].audioOptions" :key="deviceInventory[robot.id].optionId(opt)" :value="deviceInventory[robot.id].optionId(opt)">{{ deviceInventory[robot.id].optionName(opt) }}</option></select></div>
+                                                <div><label class="text-xs text-gray-500">Speaker</label><select v-model="deviceInventory[robot.id].selectedAudioOutput" @change="updateDeviceMedia(robot.id)" class="w-full bg-gray-700 rounded px-2 py-1 text-xs"><option v-for="opt in deviceInventory[robot.id].audioOutputOptions" :key="deviceInventory[robot.id].optionId(opt)" :value="deviceInventory[robot.id].optionId(opt)">{{ deviceInventory[robot.id].optionName(opt) }}</option></select></div>
+                                            </div>
+                                            <div class="grid grid-cols-2 gap-2 mt-2">
+                                                <button @click="startPreview(robot)" :disabled="!settings.production_mode || !livekit.url || !livekit.has_secret || preview.active" class="px-2 py-1 rounded text-xs bg-cyan-600 hover:bg-cyan-500 disabled:bg-gray-700 disabled:cursor-not-allowed">Camera Feed</button>
+                                                <button @click="testSpeaker(robot)" class="px-2 py-1 rounded text-xs bg-emerald-700 hover:bg-emerald-600">Audio Test</button>
+                                            </div>
+                                        </div>
                                         <div class="grid grid-cols-2 gap-2 mb-2 text-sm">
                                             <div>
                                                 <label class="text-xs text-gray-500">Character</label>
@@ -5148,48 +5165,15 @@ async def dashboard():
                                                 <div class="text-xs text-gray-400 px-2 py-1 bg-gray-800 rounded truncate">{{ stackName(robot.voice_stack_id) }}</div>
                                             </div>
                                         </div>
-                                        <div v-if="deviceInventory[robot.id]" class="space-y-2 text-sm">
-                                            <div class="grid grid-cols-3 gap-2">
-                                                <div>
-                                                    <label class="text-xs text-gray-500">Camera</label>
-                                                    <select v-model="deviceInventory[robot.id].selectedVideo"
-                                                            @change="updateDeviceMedia(robot.id)"
-                                                            class="w-full bg-gray-800 rounded px-2 py-1 text-xs">
-                                                        <option v-for="opt in deviceInventory[robot.id].videoOptions" :key="deviceInventory[robot.id].optionId(opt)" :value="deviceInventory[robot.id].optionId(opt)">{{ deviceInventory[robot.id].optionName(opt) }}</option>
-                                                    </select>
-                                                </div>
-                                                <div>
-                                                    <label class="text-xs text-gray-500">Microphone</label>
-                                                    <select v-model="deviceInventory[robot.id].selectedAudio"
-                                                            @change="updateDeviceMedia(robot.id)"
-                                                            class="w-full bg-gray-800 rounded px-2 py-1 text-xs">
-                                                        <option v-for="opt in deviceInventory[robot.id].audioOptions" :key="deviceInventory[robot.id].optionId(opt)" :value="deviceInventory[robot.id].optionId(opt)">{{ deviceInventory[robot.id].optionName(opt) }}</option>
-                                                    </select>
-                                                </div>
-                                                <div>
-                                                    <label class="text-xs text-gray-500">Speaker</label>
-                                                    <select v-model="deviceInventory[robot.id].selectedAudioOutput"
-                                                            @change="updateDeviceMedia(robot.id)"
-                                                            class="w-full bg-gray-800 rounded px-2 py-1 text-xs">
-                                                        <option v-for="opt in deviceInventory[robot.id].audioOutputOptions" :key="deviceInventory[robot.id].optionId(opt)" :value="deviceInventory[robot.id].optionId(opt)">{{ deviceInventory[robot.id].optionName(opt) }}</option>
-                                                    </select>
-                                                </div>
+                                        <div v-if="deviceInventory[robot.id]" class="space-y-2 text-sm">
+                                            <div v-if="!deviceInventory[robot.id].inventoryReported" class="rounded bg-amber-900/40 border border-amber-700 px-2 py-1 text-xs text-amber-200">
+                                                Hardware inventory not reported yet. Keep the Pi client or preview agent running for one heartbeat, then refresh.
                                             </div>
                                             <div>
                                                 <label class="text-xs text-gray-500">Cached greeting phrases (one per line)</label>
                                                 <textarea v-model="deviceInventory[robot.id].greetingText" rows="2" class="w-full bg-gray-800 rounded px-2 py-1 text-xs" placeholder="Hello! Want to go for a ride?"></textarea>
                                                 <button @click="saveDeviceGreetings(robot.id)" class="mt-1 px-2 py-1 rounded bg-gray-600 hover:bg-gray-500 text-xs">Save Greetings</button>
                                             </div>
-                                            <button @click="startPreview(robot)"
-                                                    :disabled="!settings.production_mode || !livekit.url || !livekit.has_secret || preview.active"
-                                                    :class="(settings.production_mode && livekit.url && livekit.has_secret && !preview.active) ? 'bg-cyan-600 hover:bg-cyan-700' : 'bg-gray-700 cursor-not-allowed'"
-                                                    class="w-full px-2 py-1 rounded text-xs">
-                                                {{ preview.active && preview.robot?.id === robot.id ? 'Preview Active' : 'Start Preview' }}
-                                            </button>
-                                            <button @click="testSpeaker(robot)"
-                                                    class="w-full px-2 py-1 rounded text-xs bg-emerald-700 hover:bg-emerald-600">
-                                                Test Speaker + Mic
-                                            </button>
                                             <div class="grid grid-cols-2 gap-2">
                                                 <button @click="simulateTrigger(robot)"
                                                         :disabled="!settings.production_mode || simulation.busy || robot.status === 'connecting' || robot.status === 'running'"