infinicode 2.8.8 → 2.8.10

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

@@ -697,7 +697,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
     if (name==='park') Park.activate(); else Park.deactivate();
   }
   var initHash = location.hash.replace('#','');
-  if (initHash==='robopark'||initHash==='park') selectTab(initHash);
+  // Defer tab init until Park module is defined (same outer IIFE, later in source).
+  function initTab(){
+    if (initHash==='robopark'||initHash==='park') selectTab(initHash);
+  }
+  // initTab() is called at the very bottom of this IIFE, after Park is assigned.
 
   function robotsFrom(d){
     if (Array.isArray(d)) return d;
@@ -822,21 +826,32 @@ button.act:disabled{opacity:0.5;cursor:default;}
     var drawerId=null, camRAF=null, meterRAF=null, camAbort=null, drawerTimer=null;
     var previewOn=false, previewTimer=null;   // on-demand operator camera preview
     var lkRoom=null, micAnalyser=null, audioCtx=null;
+    var imgs={}; // preloaded robot concept avatars
     var TW=44, TH=22, PARK_W=15, PARK_D=8;
-    // The real park (from the aerial): named robot pads at their ground
-    // positions, plus palms, pond, and the street. A mesh node binds to a pad
-    // when its display name matches the pad keywords (robobmw → VIXEN/BMW).
+    // The real park (from the aerial photo): named robot pads at their ground
+    // positions along the long Shenzhen Bay promenade plaza, plus palms, pond,
+    // street and stage. A mesh node binds to a pad when its display name matches
+    // the pad keywords (robobmw → VIXEN/BMW).
     var SLOTS=[
-      {label:'VOLT',   keys:['volt'],          nx:0.30, ny:0.22},
-      {label:'TESLA',  keys:['tesla'],         nx:0.44, ny:0.36},
-      {label:'JAGUAR', keys:['jaguar','jag'],  nx:0.60, ny:0.40},
-      {label:'VIXEN',  keys:['vixen','bmw'],   nx:0.55, ny:0.66, sub:'BMW'},
-      {label:'PANDA',  keys:['panda'],         nx:0.84, ny:0.58}
+      {label:'VOLT',    keys:['volt'],           nx:0.18, ny:0.26, img:'/static/robopark/volt.png'},
+      {label:'TESLA',   keys:['tesla'],          nx:0.38, ny:0.30, img:'/static/robopark/tesla.png'},
+      {label:'JAGUAR',  keys:['jaguar','jag'],   nx:0.58, ny:0.34, img:'/static/robopark/jaguar.png'},
+      {label:'VIXEN',   keys:['vixen','bmw'],    nx:0.54, ny:0.66, sub:'BMW', img:'/static/robopark/bmw.png'},
+      {label:'PANDA',   keys:['panda'],          nx:0.82, ny:0.52, img:'/static/robopark/panda.png'}
+    ];
+    var HUBSLOT={label:'CONTROL', keys:[], nx:0.06, ny:0.16};
+    // Palm positions tuned to the aerial: clusters along the back edge and
+    // scattered down the center of the paved strip.
+    var PALMS=[
+      [0.10,0.38],[0.14,0.55],[0.18,0.72],[0.22,0.30],[0.26,0.48],[0.30,0.66],
+      [0.36,0.24],[0.40,0.42],[0.44,0.60],[0.50,0.26],[0.54,0.46],[0.58,0.64],
+      [0.66,0.30],[0.70,0.50],[0.74,0.68],[0.80,0.36],[0.84,0.56],[0.90,0.40],[0.94,0.62],
+      [0.62,0.80],[0.76,0.84],[0.35,0.82]
     ];
-    var HUBSLOT={label:'CONTROL', keys:[], nx:0.09, ny:0.12};
-    var PALMS=[[0.11,0.55],[0.15,0.74],[0.19,0.42],[0.23,0.64],[0.17,0.31],[0.25,0.82],[0.37,0.24],[0.41,0.56],[0.49,0.74],[0.52,0.29],[0.59,0.62],[0.66,0.26],[0.71,0.69],[0.76,0.42],[0.82,0.74],[0.89,0.42],[0.92,0.68],[0.67,0.83],[0.34,0.71]];
-    var POND={cx:0.33*15, cy:0.99*8, rx:3.1, ry:1.4};
-    var CARS=[[4,-0.95,'#e0a23c'],[6,-0.8,'#7fb4ff'],[8,-1.0,'#ff7e6e'],[10.5,-0.78,'#d8d8e0'],[12.8,-0.95,'#f2c14e']];
+    // Pond / curved water feature at the lower-left of the plaza.
+    var POND={cx:0.28*15, cy:0.96*8, rx:3.4, ry:1.6};
+    // Street traffic along the top road (yellow taxis + private cars).
+    var CARS=[[2.2,-0.92,'#f2c14e'],[4.4,-0.78,'#e0a23c'],[6.6,-0.95,'#7fb4ff'],[8.8,-1.02,'#ff7e6e'],[11.0,-0.84,'#d8d8e0'],[13.2,-0.98,'#f2c14e']];
 
     function mono(){ return 'ui-monospace,Menlo,Consolas,monospace'; }
     function W2(nx,ny){ return [nx*PARK_W, ny*PARK_D]; }
@@ -986,17 +1001,39 @@ button.act:disabled{opacity:0.5;cursor:default;}
       X.strokeStyle='rgba(232,210,120,0.5)'; X.setLineDash([9*cam.z,9*cam.z]);
       var r1=iso(0.2,-0.92), r2=iso(PARK_W-0.2,-0.92); X.beginPath(); X.moveTo(r1.x,r1.y); X.lineTo(r2.x,r2.y); X.stroke(); X.setLineDash([]);
       CARS.forEach(function(c){ drawCar(c[0],c[1],c[2]); });
-      // paved plaza
-      var px0=0.4,py0=-0.15,px1=PARK_W-0.4,py1=PARK_D-0.6;
+      // white event tent / stage on the far left of the plaza (matches aerial)
+      drawTent(0.85, 0.18);
+      // paved plaza — long rectangular promenade matching the aerial footprint
+      var px0=0.2,py0=-0.10,px1=PARK_W-0.2,py1=PARK_D-0.45;
       var pg=X.createLinearGradient(0,0,0,H); pg.addColorStop(0,'rgba(74,70,92,0.66)'); pg.addColorStop(1,'rgba(46,42,60,0.62)');
       poly([[px0,py0],[px1,py0],[px1,py1],[px0,py1]], pg, 'rgba(255,255,255,0.07)',1);
+      // plaza grid (tile joints)
       X.strokeStyle='rgba(255,255,255,0.05)'; X.lineWidth=1;
-      for(var gx=Math.ceil(px0);gx<px1;gx++){ var a=iso(gx,py0), b=iso(gx,py1); X.beginPath(); X.moveTo(a.x,a.y); X.lineTo(b.x,b.y); X.stroke(); }
-      for(var gy=Math.ceil(py0);gy<py1;gy++){ var c=iso(px0,gy), d=iso(px1,gy); X.beginPath(); X.moveTo(c.x,c.y); X.lineTo(d.x,d.y); X.stroke(); }
-      // pond
-      var pts=[]; for(var t=0;t<Math.PI*2;t+=Math.PI/9){ pts.push([POND.cx+POND.rx*Math.cos(t), POND.cy+POND.ry*Math.sin(t)]); }
+      for(var gx=Math.ceil(px0);gx<px1;gx+=1.5){ var a=iso(gx,py0), b=iso(gx,py1); X.beginPath(); X.moveTo(a.x,a.y); X.lineTo(b.x,b.y); X.stroke(); }
+      for(var gy=Math.ceil(py0);gy<py1;gy+=1.5){ var c=iso(px0,gy), d=iso(px1,gy); X.beginPath(); X.moveTo(c.x,c.y); X.lineTo(d.x,d.y); X.stroke(); }
+      // curved pond / water feature at bottom-left
+      var pts=[]; for(var t=0;t<Math.PI*2;t+=Math.PI/12){ pts.push([POND.cx+POND.rx*Math.cos(t), POND.cy+POND.ry*Math.sin(t)*0.7]); }
       var wg=X.createLinearGradient(0,0,0,H); wg.addColorStop(0,'rgba(44,116,156,0.72)'); wg.addColorStop(1,'rgba(26,74,116,0.72)');
       poly(pts, wg, 'rgba(130,205,235,0.32)',1.5);
+      // winding footpath along the pond
+      X.strokeStyle='rgba(210,190,150,0.35)'; X.lineWidth=2.5*cam.z; X.setLineDash([]);
+      var pathPts=[[0.15*PARK_W,0.82*PARK_D],[0.22*PARK_W,0.88*PARK_D],[0.32*PARK_W,0.92*PARK_D],[0.45*PARK_W,0.95*PARK_D]];
+      X.beginPath();
+      for(var pi=0;pi<pathPts.length;pi++){ var pp=iso(pathPts[pi][0],pathPts[pi][1]); if(pi===0)X.moveTo(pp.x,pp.y); else X.lineTo(pp.x,pp.y); }
+      X.stroke();
+    }
+    function drawTent(wx,wy){
+      var p=iso(wx,wy), z=cam.z;
+      // canopy shadow
+      X.fillStyle='rgba(0,0,0,0.28)'; X.beginPath(); X.ellipse(p.x,p.y+4*z,22*z,8*z,0,0,7); X.fill();
+      // white peaked tent
+      X.fillStyle='rgba(235,235,240,0.92)'; X.strokeStyle='rgba(180,180,190,0.6)'; X.lineWidth=1;
+      X.beginPath(); X.moveTo(p.x-20*z,p.y); X.lineTo(p.x,p.y-26*z); X.lineTo(p.x+20*z,p.y); X.closePath(); X.fill(); X.stroke();
+      X.beginPath(); X.moveTo(p.x-20*z,p.y); X.lineTo(p.x-12*z,p.y+16*z); X.lineTo(p.x+12*z,p.y+16*z); X.lineTo(p.x+20*z,p.y); X.closePath(); X.fill(); X.stroke();
+      // support poles
+      X.strokeStyle='rgba(160,160,170,0.7)'; X.lineWidth=1.5*z;
+      X.beginPath(); X.moveTo(p.x-10*z,p.y+16*z); X.lineTo(p.x-10*z,p.y+5*z); X.stroke();
+      X.beginPath(); X.moveTo(p.x+10*z,p.y+16*z); X.lineTo(p.x+10*z,p.y+5*z); X.stroke();
     }
     function drawCar(wx,wy,col){
       var p=iso(wx,wy), z=cam.z;
@@ -1039,12 +1076,22 @@ button.act:disabled{opacity:0.5;cursor:default;}
       X.fillStyle='rgba(0,0,0,0.3)'; X.beginPath(); X.ellipse(bx,p.y+3*z,13*z,6*z,0,0,7); X.fill();
       var col=n.connected?getVar('--gold-bright'):'rgba(150,143,120,0.5)';
       X.globalAlpha=n.connected?1:0.7;
-      X.fillStyle='rgba(24,20,38,0.92)'; X.strokeStyle=col; X.lineWidth=1.6;
-      X.beginPath(); X.roundRect(bx-11*z,by-24*z,22*z,25*z,5*z); X.fill(); X.stroke();
-      X.beginPath(); X.roundRect(bx-8*z,by-37*z,16*z,14*z,4*z); X.fillStyle='rgba(30,24,44,0.95)'; X.fill(); X.stroke();
-      X.fillStyle=n.connected?getVar('--ok'):'#655'; X.beginPath(); X.arc(bx-3.5*z,by-30*z,2*z,0,7); X.arc(bx+3.5*z,by-30*z,2*z,0,7); X.fill();
-      X.strokeStyle=col; X.beginPath(); X.moveTo(bx,by-37*z); X.lineTo(bx,by-44*z); X.stroke();
-      X.fillStyle=n.connected?'#FF5B4A':'#655'; X.beginPath(); X.arc(bx,by-45*z,2*z,0,7); X.fill();
+      var img = n.connected && imgs[n.label];
+      if(img && img.complete && img.naturalWidth>0){
+        var iw=26*z, ih=26*z*img.naturalHeight/img.naturalWidth;
+        X.save();
+        X.beginPath(); X.roundRect(bx-13*z,by-38*z,iw,ih+12*z,6*z); X.clip();
+        X.drawImage(img, bx-13*z, by-44*z, iw, ih+18*z);
+        X.restore();
+        X.strokeStyle=col; X.lineWidth=1.6; X.beginPath(); X.roundRect(bx-13*z,by-38*z,iw,ih+12*z,6*z); X.stroke();
+      } else {
+        X.fillStyle='rgba(24,20,38,0.92)'; X.strokeStyle=col; X.lineWidth=1.6;
+        X.beginPath(); X.roundRect(bx-11*z,by-24*z,22*z,25*z,5*z); X.fill(); X.stroke();
+        X.beginPath(); X.roundRect(bx-8*z,by-37*z,16*z,14*z,4*z); X.fillStyle='rgba(30,24,44,0.95)'; X.fill(); X.stroke();
+        X.fillStyle=n.connected?getVar('--ok'):'#655'; X.beginPath(); X.arc(bx-3.5*z,by-30*z,2*z,0,7); X.arc(bx+3.5*z,by-30*z,2*z,0,7); X.fill();
+        X.strokeStyle=col; X.beginPath(); X.moveTo(bx,by-37*z); X.lineTo(bx,by-44*z); X.stroke();
+        X.fillStyle=n.connected?'#FF5B4A':'#655'; X.beginPath(); X.arc(bx,by-45*z,2*z,0,7); X.fill();
+      }
       X.globalAlpha=1;
       var sub=n.connected?((n.sub&&n.sub!==n.name?n.sub+' · ':'')+Math.round(n.load)+'%'):'not joined';
       label(bx,p.y+17*z,n.label,col,sub);
@@ -1100,9 +1147,13 @@ button.act:disabled{opacity:0.5;cursor:default;}
       var s=document.createElement('script'); s.src='/vendor/livekit-client.umd.js'+QS; s.async=true;
       s.onerror=function(){ sdkLoading=false; }; document.head.appendChild(s);
     }
+    function loadImages(){
+      SLOTS.forEach(function(s){ if(!s.img) return; var i=new Image(); i.src=s.img+QS; i.onload=function(){ imgs[s.label]=i; }; i.onerror=function(){ imgs[s.label]=null; }; });
+    }
     function activate(){
       ensure();
       loadSDK();
+      loadImages();
       if(lastStatus) onStatus(lastStatus);
       resize();
       connectStream();
@@ -1319,6 +1370,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
   poll();
   setInterval(poll, 2000);
   setInterval(function(){ if (activeTab==='robopark') pollRobopark(); }, 3000);
+  initTab();
 })();
 </script>
 </body>

package/dist/kernel/federation/transport-http.js

@@ -38,6 +38,28 @@ function loadLiveKitUmd() {
     }
     return _lkUmd;
 }
+/** In-memory cache of small static assets embedded next to the dashboard so the
+ *  Park map can show per-robot concept avatars without external URLs. */
+const _staticCache = {};
+function loadStaticAsset(relPath) {
+    if (_staticCache[relPath])
+        return _staticCache[relPath];
+    try {
+        const require = createRequire(import.meta.url);
+        // Resolve from dist/kernel/federation/transport-http.js → project root.
+        const here = require.resolve('./transport-http.js');
+        const base = here.replace(/dist[\\/]kernel[\\/]federation[\\/]transport-http\.js$/, 'static');
+        const file = base + '/' + relPath;
+        const data = readFileSync(file);
+        const ext = file.split('.').pop()?.toLowerCase();
+        const type = ext === 'png' ? 'image/png' : ext === 'jpg' || ext === 'jpeg' ? 'image/jpeg' : 'application/octet-stream';
+        _staticCache[relPath] = { type, data };
+        return _staticCache[relPath];
+    }
+    catch {
+        return null;
+    }
+}
 /** Constant-time string compare — avoids leaking the token via response timing. */
 function safeEqual(a, b) {
     const ab = Buffer.from(a);
@@ -152,6 +174,17 @@ export class MeshServer {
             res.end(this.opts.dashboardHtml);
             return;
         }
+        // Static assets bundled with the dashboard (robot concept avatars, etc.).
+        if (req.method === 'GET' && path.startsWith('/static/')) {
+            const asset = loadStaticAsset(path.slice(8));
+            if (!asset) {
+                res.writeHead(404).end('asset not found');
+                return;
+            }
+            res.writeHead(200, { 'content-type': asset.type, 'cache-control': 'public, max-age=86400' });
+            res.end(asset.data);
+            return;
+        }
         // LiveKit browser SDK, served from the installed dependency so the Park
         // tab can subscribe to a robot's live camera track. Loaded by the dashboard
         // with the ?token= appended (so it passes the auth gate above). Optional:

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

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

package/dist/robopark/enroll.d.ts

@@ -0,0 +1,7 @@
+export interface EnrollOptions {
+    schedulerUrl: string;
+    robotId?: string;
+    enrollmentToken?: string;
+    saveConfig?: boolean;
+}
+export declare function roboparkEnroll(opts: EnrollOptions): Promise<void>;

package/dist/robopark/enroll.js

@@ -0,0 +1,101 @@
+/**
+ * RoboPark — `robopark enroll`.
+ *
+ * Enrolls this machine as a scheduler device. Either uses an explicit
+ * enrollment token, or reads it from ~/.robopark/enrollment_token.
+ */
+import { spawn } from 'node:child_process';
+import { existsSync, readFileSync, writeFileSync, mkdirSync } from 'node:fs';
+import { homedir, hostname } from 'node:os';
+import { join } from 'node:path';
+import chalk from 'chalk';
+const ROBOPARK_DIR = join(homedir(), '.robopark');
+const ENROLLMENT_FILE = join(ROBOPARK_DIR, 'enrollment_token');
+function ensureDir() {
+    mkdirSync(ROBOPARK_DIR, { recursive: true });
+}
+function readEnrollmentToken() {
+    if (existsSync(ENROLLMENT_FILE)) {
+        return readFileSync(ENROLLMENT_FILE, 'utf8').trim();
+    }
+    return undefined;
+}
+function saveEnrollmentToken(token) {
+    ensureDir();
+    writeFileSync(ENROLLMENT_FILE, token, { mode: 0o600 });
+}
+async function findSchedulerPath() {
+    const candidates = [
+        join(process.cwd(), 'packages', 'robopark', 'scheduler', 'preview_agent.py'),
+        join(process.cwd(), 'scheduler', 'preview_agent.py'),
+    ];
+    for (const p of candidates) {
+        if (existsSync(p))
+            return p;
+    }
+    try {
+        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');
+        if (existsSync(p))
+            return p;
+    }
+    catch { /* ignore */ }
+    return null;
+}
+function findPython() {
+    const names = process.platform === 'win32'
+        ? ['python', 'python3', 'py']
+        : ['python3', 'python'];
+    for (const name of names) {
+        try {
+            const { execSync } = require('node:child_process');
+            execSync(`${name} --version`, { stdio: 'ignore' });
+            return name;
+        }
+        catch {
+            continue;
+        }
+    }
+    return process.platform === 'win32' ? 'python' : 'python3';
+}
+export async function roboparkEnroll(opts) {
+    const token = opts.enrollmentToken ?? readEnrollmentToken();
+    if (!token) {
+        console.log(chalk.red('  ✗ pass --enrollment-token <token> or write it to ~/.robopark/enrollment_token'));
+        process.exit(1);
+    }
+    saveEnrollmentToken(token);
+    const robotId = opts.robotId ?? hostname().split('.')[0];
+    const schedulerUrl = opts.schedulerUrl;
+    const script = await findSchedulerPath();
+    if (!script) {
+        console.log(chalk.red('  ✗ could not find preview_agent.py'));
+        process.exit(1);
+    }
+    const python = findPython();
+    const args = [
+        script,
+        '--scheduler-url', schedulerUrl,
+        '--robot-id', robotId,
+        '--enrollment-token', token,
+    ];
+    if (opts.saveConfig)
+        args.push('--save-config');
+    console.log(chalk.bold('\n  robopark enroll'));
+    console.log(chalk.dim('  ' + '─'.repeat(52)));
+    console.log(`  robot:     ${chalk.cyan(robotId)}`);
+    console.log(`  scheduler: ${chalk.cyan(schedulerUrl)}`);
+    console.log();
+    const proc = spawn(python, args, { stdio: 'inherit' });
+    await new Promise((resolve, reject) => {
+        proc.on('error', reject);
+        proc.on('close', (code) => {
+            if (code === 0)
+                resolve();
+            else
+                reject(new Error(`enrollment exited ${code ?? ''}`));
+        });
+    });
+}

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

@@ -0,0 +1,14 @@
+export interface PreviewAgentOptions {
+    schedulerUrl: string;
+    robotId?: string;
+    deviceToken?: string;
+    enrollmentToken?: string;
+    videoDevice: string;
+    audioDevice: string;
+    width: string;
+    height: string;
+    fps: string;
+    saveConfig?: boolean;
+    foreground?: boolean;
+}
+export declare function roboparkPreviewAgent(opts: PreviewAgentOptions): Promise<void>;

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

@@ -0,0 +1,102 @@
+/**
+ * RoboPark — `robopark preview-agent` launcher.
+ *
+ * Starts preview_agent.py with the right Python interpreter, auto-discovers
+ * the scheduler URL from mesh/hub, and detaches unless --foreground.
+ */
+import { spawn } from 'node:child_process';
+import { existsSync } from 'node:fs';
+import { hostname } from 'node:os';
+import { join } from 'node:path';
+import chalk from 'chalk';
+import { discoverContext } from './discovery.js';
+const DEFAULT_SCHEDULER_PORT = 8080;
+async function findSchedulerPath() {
+    const candidates = [
+        join(process.cwd(), 'packages', 'robopark', 'scheduler', 'preview_agent.py'),
+        join(process.cwd(), 'scheduler', 'preview_agent.py'),
+    ];
+    for (const p of candidates) {
+        if (existsSync(p))
+            return p;
+    }
+    try {
+        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');
+        if (existsSync(p))
+            return p;
+    }
+    catch { /* ignore */ }
+    return null;
+}
+function findPython() {
+    const names = process.platform === 'win32'
+        ? ['python', 'python3', 'py']
+        : ['python3', 'python'];
+    for (const name of names) {
+        try {
+            const { execSync } = require('node:child_process');
+            execSync(`${name} --version`, { stdio: 'ignore' });
+            return name;
+        }
+        catch {
+            continue;
+        }
+    }
+    return process.platform === 'win32' ? 'python' : 'python3';
+}
+export async function roboparkPreviewAgent(opts) {
+    const ctx = await discoverContext();
+    const port = DEFAULT_SCHEDULER_PORT;
+    const schedulerUrl = opts.schedulerUrl !== 'http://localhost:8080'
+        ? opts.schedulerUrl
+        : ctx.hub
+            ? `http://${ctx.hub.ip}:${port}`
+            : 'http://localhost:8080';
+    const robotId = opts.robotId ?? hostname().split('.')[0];
+    const script = await findSchedulerPath();
+    if (!script) {
+        console.log(chalk.red('  ✗ could not find preview_agent.py'));
+        process.exit(1);
+    }
+    const python = findPython();
+    const args = [
+        script,
+        '--scheduler-url', schedulerUrl,
+        '--robot-id', robotId,
+        '--video-device', opts.videoDevice,
+        '--audio-device', opts.audioDevice,
+        '--width', opts.width,
+        '--height', opts.height,
+        '--fps', opts.fps,
+    ];
+    if (opts.deviceToken)
+        args.push('--device-token', opts.deviceToken);
+    if (opts.enrollmentToken)
+        args.push('--enrollment-token', opts.enrollmentToken);
+    if (opts.saveConfig)
+        args.push('--save-config');
+    console.log(chalk.bold('\n  robopark preview-agent'));
+    console.log(chalk.dim('  ' + '─'.repeat(52)));
+    console.log(`  robot:     ${chalk.cyan(robotId)}`);
+    console.log(`  scheduler: ${chalk.cyan(schedulerUrl)}`);
+    console.log(`  video:     ${chalk.cyan(opts.videoDevice)}`);
+    console.log(`  audio:     ${chalk.cyan(opts.audioDevice)}`);
+    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_PREVIEW_AGENT: '1' },
+    });
+    proc.unref();
+    console.log(chalk.green('  ✓ preview agent started in background'));
+}

package/dist/robopark/probe.d.ts

@@ -0,0 +1,7 @@
+export interface ProbeOptions {
+    token?: string;
+    timeout?: string;
+    output?: string;
+    local?: boolean;
+}
+export declare function roboparkProbe(opts: ProbeOptions): Promise<void>;

package/dist/robopark/probe.js

@@ -0,0 +1,138 @@
+/**
+ * RoboPark — `robopark probe`.
+ *
+ * Spawn opencode agents (locally or over mesh) to build an accurate
+ * infrastructure map. Discovers peers via Tailscale, then runs a structured
+ * prompt through the locally installed `opencode` CLI for each node.
+ *
+ * The agent is asked only to report facts — it does not mutate anything.
+ */
+import { spawn } from 'node:child_process';
+import { hostname, networkInterfaces } from 'node:os';
+import chalk from 'chalk';
+import { discoverContext } from './discovery.js';
+function getLanIps() {
+    const out = [];
+    for (const [name, addrs] of Object.entries(networkInterfaces())) {
+        if (!addrs)
+            continue;
+        for (const a of addrs) {
+            if (a.family === 'IPv4' && !a.internal)
+                out.push(a.address);
+        }
+    }
+    return out;
+}
+function findOpencode() {
+    const names = process.platform === 'win32' ? ['opencode.exe', 'opencode'] : ['opencode'];
+    for (const name of names) {
+        try {
+            const { execSync } = require('node:child_process');
+            execSync(`${name} --version`, { stdio: 'ignore' });
+            return name;
+        }
+        catch {
+            continue;
+        }
+    }
+    return null;
+}
+function runOpencodePrompt(prompt, timeoutMs) {
+    const bin = findOpencode();
+    if (!bin)
+        return Promise.resolve('opencode CLI not found; install opencode to run probes');
+    return new Promise((resolve) => {
+        const proc = spawn(bin, ['--no-project', '--non-interactive'], {
+            stdio: ['pipe', 'pipe', 'pipe'],
+            env: { ...process.env, OPENCODE_QUIET: '1' },
+        });
+        let stdout = '';
+        let stderr = '';
+        let killed = false;
+        const timer = setTimeout(() => {
+            killed = true;
+            proc.kill('SIGTERM');
+        }, timeoutMs);
+        proc.stdin?.write(prompt);
+        proc.stdin?.end();
+        proc.stdout?.on('data', (d) => { stdout += d.toString(); });
+        proc.stderr?.on('data', (d) => { stderr += d.toString(); });
+        proc.on('close', () => {
+            clearTimeout(timer);
+            if (killed)
+                resolve(stdout + '\n[probe timed out]');
+            else
+                resolve(stdout || stderr || '(no output)');
+        });
+        proc.on('error', (err) => {
+            clearTimeout(timer);
+            resolve(`opencode error: ${err.message}`);
+        });
+    });
+}
+function probePrompt(target, token) {
+    const tokenHint = token ? `mesh token is "${token}"` : 'no mesh token provided';
+    return `You are an infrastructure probe for the RoboPark fleet.
+Target node: ${target.name} (${target.ip}) via ${target.source}.
+${tokenHint}.
+
+Do NOT modify anything. Only report facts. Keep your answer under 600 words.
+
+Please report:
+1. Hostname, OS, architecture.
+2. LAN IPs and Tailscale IP if available.
+3. Whether these processes are running: infinicode node, robopark scheduler, robopark preview_agent.
+4. If this node is the hub, whether the scheduler at http://localhost:8080/api/settings responds and what production_mode is.
+5. If this node is a robot/satellite, whether it has enrolled to the scheduler and whether ~/.robopark/device_token exists.
+6. Any recent errors in journalctl/systemctl for infinicode or robopark services (last 10 lines).
+7. Whether a camera (/dev/video0) or microphone is detected.
+
+Answer as concise structured Markdown bullet list.`;
+}
+async function probeTarget(target, opts) {
+    const timeoutMs = opts.timeout ? parseInt(opts.timeout, 10) * 1000 : 60000;
+    try {
+        const summary = await runOpencodePrompt(probePrompt(target, opts.token), timeoutMs);
+        return { target, ok: true, summary, timestamp: new Date().toISOString() };
+    }
+    catch (e) {
+        return { target, ok: false, error: e.message, summary: '', timestamp: new Date().toISOString() };
+    }
+}
+export async function roboparkProbe(opts) {
+    const ctx = await discoverContext();
+    const self = { name: hostname().split('.')[0], ip: getLanIps()[0] || '127.0.0.1', source: 'self' };
+    const rawTargets = opts.local ? [self] : [self, ...(ctx.robots || []), ...(ctx.hub ? [ctx.hub] : [])];
+    const targets = rawTargets.map((t) => ({
+        name: t.name,
+        ip: t.ip,
+        source: t === self ? 'self' : 'tailscale',
+    }));
+    console.log(chalk.bold('\n  robopark probe'));
+    console.log(chalk.dim('  ' + '─'.repeat(52)));
+    console.log(`  targets: ${chalk.cyan(targets.length)}`);
+    console.log();
+    const results = [];
+    for (const t of targets) {
+        process.stdout.write(chalk.dim(`  probing ${t.name}… `));
+        const r = await probeTarget(t, opts);
+        results.push(r);
+        console.log(r.ok ? chalk.green('ok') : chalk.red('failed'));
+    }
+    console.log();
+    console.log(chalk.bold('  Probe results'));
+    console.log(chalk.dim('  ' + '─'.repeat(52)));
+    for (const r of results) {
+        console.log(`\n  ${chalk.cyan(r.target.name)} (${r.target.ip})`);
+        if (!r.ok) {
+            console.log(chalk.red(`    error: ${r.error}`));
+            continue;
+        }
+        console.log(r.summary.split('\n').map(l => '    ' + l).join('\n'));
+    }
+    if (opts.output) {
+        const { writeFileSync } = await import('node:fs');
+        writeFileSync(opts.output, JSON.stringify(results, null, 2), 'utf8');
+        console.log(`\n  ${chalk.green('✓')} wrote ${opts.output}`);
+    }
+}

package/dist/robopark/serve.js

@@ -108,6 +108,19 @@ export async function roboparkServe(opts) {
     const port = opts.port ? parseInt(opts.port, 10) : 8080;
     const host = opts.host ?? '0.0.0.0';
     const python = findPython();
+    const schedulerDir = dirname(schedulerPath);
+    const requirements = join(schedulerDir, 'requirements.txt');
+    // Ensure scheduler Python dependencies are installed before starting.
+    if (existsSync(requirements)) {
+        console.log(chalk.dim('  ensuring scheduler Python deps…'));
+        try {
+            execSync(`${python} -m pip install -r "${requirements}" --user --quiet`, { stdio: 'pipe' });
+        }
+        catch (err) {
+            console.log(chalk.yellow(`  ⚠ pip install failed: ${err instanceof Error ? err.message : String(err)}`));
+            console.log(chalk.dim('    continuing; scheduler may fail if deps are missing.'));
+        }
+    }
     const env = {
         ...process.env,
         SCHEDULER_HOST: host,

package/dist/robopark/setup-livekit.d.ts

@@ -0,0 +1,8 @@
+export interface SetupLivekitOptions {
+    hubUrl?: string;
+    token?: string;
+    schedulerUrl?: string;
+    timeout?: string;
+    dryRun?: boolean;
+}
+export declare function roboparkSetupLivekit(opts: SetupLivekitOptions): Promise<void>;