infinicode 2.8.81 → 2.8.83

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

@@ -4005,7 +4005,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
     var drawerId=null, camRAF=null, meterRAF=null, camAbort=null, drawerTimer=null, pipelineTimer=null, deviceSelectorsReady=false;
     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, lkAudioEls=[], micMonitorConnecting=false, micMonitorState='no active conversation session', micMonitorAudible=false, micMonitorVolume=0.8;
+    var lkRoom=null, micAnalyser=null, micMonitorSource=null, micMonitorGain=null, audioCtx=null, lkAudioEls=[], micMonitorConnecting=false, micMonitorState='no active conversation session', micMonitorAudible=false, micMonitorVolume=0.8;
     var imgs={}; // preloaded robot concept avatars
     var TW=44, TH=22, PARK_W=15, PARK_D=8;
     // Plaza footprint and parking lot (upper-right corner of the plaza)
@@ -6096,6 +6096,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
       if(pipelineTimer){ clearInterval(pipelineTimer); pipelineTimer=null; }
       if(lkRoom){ try{ lkRoom.disconnect(); }catch(e){} lkRoom=null; }
       lkAudioEls.forEach(function(el){try{el.pause();el.remove();}catch(e){}});lkAudioEls=[];
+      if(micMonitorSource)try{micMonitorSource.disconnect();}catch(e){}micMonitorSource=null;micMonitorGain=null;
       micMonitorAudible=false;micMonitorConnecting=false;micMonitorState='no active conversation session';
       micAnalyser=null;
     }
@@ -6265,11 +6266,12 @@ button.act:disabled{opacity:0.5;cursor:default;}
     function refreshDeviceSelectors(n){
       var device=schedulerDevice(n)||{}, inv=device.device_inventory||{};
       if(hasRealInventory(inv)) deviceSelectorsReady=true;
-      var search=$('pk-device-search'), query=(search&&search.value||'').trim().toLowerCase();
-      // Do not invent Picamera/V4L2 choices when the robot has not reported hardware.
-      var video=deviceList(inv,'video',['auto','none']);
-      var input=deviceList(inv,'audio_input',['default','none']);
-      var output=deviceList(inv,'audio_output',['default','none']);
+      var query='';
+      // Launch hardware profile shared by every deployed robot. Do not expose
+      // unstable PortAudio indexes, HDMI, or Pi codec devices in production.
+      var video=[{id:'/dev/video0',name:'H65 USB CAMERA (/dev/video0)'}];
+      var input=[{id:'2',name:'USB microphone (hw:3,0)'}];
+      var output=[{id:'1',name:'USB speaker (hw:2,0)'}];
       function fill(id, list, selected){
         var el=$(id); if(!el) return;
         // Heartbeat polling rebuilds this panel frequently. Preserve an
@@ -6282,9 +6284,9 @@ button.act:disabled{opacity:0.5;cursor:default;}
         });
         if(!el.value && effectiveSelected){ var o=document.createElement('option'); o.value=String(effectiveSelected); o.textContent=String(effectiveSelected)+(el.dataset.dirty==='true'?' (selected)':' (saved)'); o.selected=true; el.appendChild(o); }
       }
-      fill('pk-video-device', video, device.video_device||'auto');
-      fill('pk-audio-input', input, device.audio_device||'default');
-      fill('pk-audio-output', output, device.audio_output_device||'default');
+      fill('pk-video-device', video, '/dev/video0');
+      fill('pk-audio-input', input, '2');
+      fill('pk-audio-output', output, '1');
       var selectedOutput=$('pk-audio-output'),selectedLabel=$('pk-spk-selected');
       if(selectedLabel&&selectedOutput){var selectedOption=selectedOutput.options&&selectedOutput.selectedIndex>=0?selectedOutput.options[selectedOutput.selectedIndex]:null;selectedLabel.textContent=selectedOption?String(selectedOption.textContent||selectedOption.value):String(selectedOutput.value||'default');}
       var greetings=$('pk-greeting-phrases');
@@ -6302,7 +6304,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
     }
     function saveDeviceSelectors(n){
       var device=schedulerDevice(n), id=device&&device.id; if(!id){ showOut('device inventory is not available yet'); return; }
-      var body={video_device:$('pk-video-device').value, audio_device:$('pk-audio-input').value, audio_output_device:$('pk-audio-output').value,
+      var body={video_device:'/dev/video0', audio_device:'2', audio_output_device:'1',
         greeting_phrases:($('pk-greeting-phrases').value||'').split(String.fromCharCode(10)).map(function(x){return x.trim();}).filter(Boolean)};
       var button=$('pk-device-save'),note=$('pk-device-note');
       if(button){button.disabled=true;button.textContent='Saving...';}
@@ -6713,7 +6715,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
           + sect('🩺 robot services','<div id="pk-svc-list" class="pk-svc-list"><div class="pk-note">waiting for supervisor report…</div></div><div class="pk-note" id="pk-svc-age" style="margin-top:0.35rem;"></div><div class="rp-field" style="margin-top:0.55rem;"><label>Quick run (on the robot, from packages/robopark/scheduler)</label><input id="pk-svc-clicmd" readonly value="python robot_supervisor.py"></div><button class="rp-btn" id="pk-svc-clicmd-copy" style="margin-top:0.35rem;">📋 Copy command</button>')
           + 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><div class="rp-config-actions" style="margin-top:.45rem"><button class="rp-btn primary" id="pk-eff-save" data-robot="'+esc(schedId(n))+'">Apply to robot</button><button class="rp-btn" id="pk-edit-character">Edit character</button><button class="rp-btn" id="pk-edit-stack">Edit stack</button><button class="rp-btn" id="pk-new-stack">New stack</button></div>');
-         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><button class="rp-btn primary" id="pk-device-test-speaker" style="margin-top:0.35rem">Test selected speaker now</button><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>');
+         b.innerHTML += sect('Production camera + audio','<div class="pk-note" id="pk-device-search" style="margin-bottom:.55rem">Hardware locked for launch. Camera, microphone, and speaker cannot drift between restarts.</div><div class="rp-field"><label>Camera input</label><select id="pk-video-device" disabled></select></div><div class="rp-field"><label>Microphone input</label><select id="pk-audio-input" disabled></select></div><div class="rp-field"><label>Speaker output</label><select id="pk-audio-output" disabled></select></div><button class="rp-btn primary" id="pk-device-test-speaker" style="margin-top:0.35rem">Test USB speaker now</button><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 greetings + enforce hardware</button><div class="pk-note" id="pk-device-note">waiting for robot heartbeat inventory</div>');
           // 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');
@@ -6721,7 +6723,6 @@ button.act:disabled{opacity:0.5;cursor:default;}
           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); });
          ['pk-video-device','pk-audio-input','pk-audio-output'].forEach(function(field){
            var select=$(field);if(!select)return;
@@ -6735,7 +6736,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
            });
          });
          var micListen=$('pk-mic-listen');if(micListen)micListen.addEventListener('click',function(){setMicMonitorAudible(!micMonitorAudible);});
-         var micVolume=$('pk-mic-volume');if(micVolume)micVolume.addEventListener('input',function(){micMonitorVolume=Math.max(0,Math.min(1,Number(micVolume.value||80)/100));lkAudioEls.forEach(function(el){el.volume=micMonitorVolume;});});
+         var micVolume=$('pk-mic-volume');if(micVolume)micVolume.addEventListener('input',function(){micMonitorVolume=Math.max(0,Math.min(1,Number(micVolume.value||80)/100));if(micMonitorGain)micMonitorGain.gain.value=micMonitorAudible?micMonitorVolume:0;});
          startCam(n); startMeters(n); loadEffectiveConfig(schedId(n)); refreshSupervisorPanel(n);
         _bindShellSection(n);
         _spkTestRenderHistory(schedId(n));
@@ -6946,12 +6947,15 @@ button.act:disabled{opacity:0.5;cursor:default;}
     function setMicMonitorAudible(enabled){
       micMonitorAudible=!!enabled;
       var btn=$('pk-mic-listen'),note=$('pk-mic-listen-note');
+      if(micMonitorAudible){
+        var AC=window.AudioContext||window.webkitAudioContext;
+        if(AC) audioCtx=audioCtx||new AC();
+        if(audioCtx&&audioCtx.state==='suspended') audioCtx.resume().catch(function(e){if(note)note.textContent='Browser audio resume failed: '+e.message;});
+      }
+      if(micMonitorGain)micMonitorGain.gain.value=micMonitorAudible?micMonitorVolume:0;
       if(btn){btn.textContent=micMonitorAudible?'Mute browser monitor':'Listen in browser';btn.classList.toggle('primary',micMonitorAudible);}
       if(note)note.textContent=micMonitorAudible?(lkAudioEls.length?'Robot mic is playing in this browser. Use headphones.':'Listening armed — waiting for the robot mic track.'):'Browser monitoring muted.';
-      lkAudioEls.forEach(function(el){
-        el.muted=!micMonitorAudible;el.volume=micMonitorVolume;
-        if(micMonitorAudible)el.play().catch(function(e){if(note)note.textContent='Browser blocked playback: '+e.message+' — press Listen again.';});
-      });
+      lkAudioEls.forEach(function(el){el.muted=true;});
     }
     function startMicMonitor(n){
       if(lkRoom||micMonitorConnecting)return;
@@ -7000,12 +7004,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
             // that drowns out the actual conversation. The VU meter above
             // (hookMicAnalyser) taps the raw track directly and works fine
             // muted.
-            var audio=track.attach(); audio.autoplay=true; audio.playsInline=true;audio.setAttribute('playsinline','');audio.controls=false; audio.muted=!micMonitorAudible; audio.volume=micMonitorVolume;audio.style.display='none'; document.body.appendChild(audio); lkAudioEls.push(audio);
+            var audio=track.attach(); audio.autoplay=false; audio.playsInline=true;audio.setAttribute('playsinline','');audio.controls=false; audio.muted=true; audio.style.display='none'; document.body.appendChild(audio); lkAudioEls.push(audio);
             var listenNote=$('pk-mic-listen-note');if(listenNote&&micMonitorAudible)listenNote.textContent='Robot mic is playing in this browser. Use headphones.';
-            audio.play().catch(function(e){var listenNote=$('pk-mic-listen-note');if(listenNote)listenNote.textContent='Browser blocked robot audio: '+e.message+'. Click Listen in browser.';});
           }
         });
-        lkRoom.on(LK.RoomEvent.Disconnected, function(){lkRoom=null;micAnalyser=null;micMonitorConnecting=false;micMonitorState='session ended';var micState=$('pk-micstate');if(micState)micState.textContent='selected '+selectedRobotMic()+' · session ended';if(!audioOnly&&note)note.textContent='session ended';if(!audioOnly&&res)res.textContent='—';});
+        lkRoom.on(LK.RoomEvent.Disconnected, function(){lkRoom=null;micAnalyser=null;if(micMonitorSource)try{micMonitorSource.disconnect();}catch(e){}micMonitorSource=null;micMonitorGain=null;micMonitorConnecting=false;micMonitorState='session ended';var micState=$('pk-micstate');if(micState)micState.textContent='selected '+selectedRobotMic()+' · session ended';if(!audioOnly&&note)note.textContent='session ended';if(!audioOnly&&res)res.textContent='—';});
         var livekitUrl=info.url;
         if((location.hostname==='localhost'||location.hostname==='127.0.0.1') && /^ws:\\/\\/localhost(?::|\\/)/i.test(livekitUrl)) livekitUrl=livekitUrl.replace(/^ws:\\/\\/localhost/i,'ws://127.0.0.1');
         lkRoom.connect(livekitUrl, info.token).then(function(){micMonitorState='connected, waiting for robot mic publication';var micState=$('pk-micstate');if(micState)micState.textContent='selected '+selectedRobotMic()+' · '+micMonitorState;if(!audioOnly&&note)note.textContent='connected · waiting for camera track…';})
@@ -7014,13 +7017,15 @@ button.act:disabled{opacity:0.5;cursor:default;}
     }
     // Real mic level: tap the robot's subscribed 'mic' audio track with a Web
     // Audio analyser and read RMS in startMeters (no invented levels).
-    function hookMicAnalyser(track){
+    function hookMicAnalyser(track){
       try{
         var AC=window.AudioContext||window.webkitAudioContext; if(!AC) return;
         audioCtx=audioCtx||new AC(); if(audioCtx.state==='suspended') audioCtx.resume().catch(function(){});
         var ms=track.mediaStreamTrack; if(!ms) return;
-        var src=audioCtx.createMediaStreamSource(new MediaStream([ms]));
-        var an=audioCtx.createAnalyser(); an.fftSize=256; src.connect(an); micAnalyser=an;
+        if(micMonitorSource)try{micMonitorSource.disconnect();}catch(e){}
+        var src=audioCtx.createMediaStreamSource(new MediaStream([ms]));
+        var an=audioCtx.createAnalyser(); an.fftSize=256; src.connect(an); micAnalyser=an;
+        var gain=audioCtx.createGain();gain.gain.value=micMonitorAudible?micMonitorVolume:0;src.connect(gain);gain.connect(audioCtx.destination);micMonitorSource=src;micMonitorGain=gain;
       }catch(e){}
     }
     function previewCam(n){

package/dist/robopark/robot-runtime.js

@@ -101,7 +101,8 @@ export async function roboparkRobotRuntime(opts) {
     }
     const previewArgs = [cli, 'preview-agent', '--foreground',
         '--scheduler-url', opts.schedulerUrl, '--robot-id', opts.name,
-        '--video-device', opts.videoDevice ?? 'auto', '--audio-device', opts.audioDevice ?? 'default',
+        '--video-device', opts.videoDevice ?? '/dev/video0',
+        '--audio-device', opts.audioDevice ?? 'Usb Audio Device: USB Audio (hw:3,0)',
         '--save-config'];
     if (opts.enrollmentToken)
         previewArgs.push('--enrollment-token', opts.enrollmentToken);

package/dist/robopark/setup.js

@@ -204,8 +204,8 @@ async function setupRobot(config, opts, ctx, internal) {
         '--token', internal.token,
         '--port', String(internal.port),
         networkFlag,
-        '--video-device', opts.videoDevice ?? 'auto',
-        '--audio-device', opts.audioDevice ?? 'default',
+        '--video-device', opts.videoDevice ?? '/dev/video0',
+        '--audio-device', opts.audioDevice ?? 'Usb Audio Device: USB Audio (hw:3,0)',
     ];
     if (opts.enrollmentToken)
         runtimeArgs.push('--enrollment-token', opts.enrollmentToken);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.81",
+  "version": "2.8.83",
   "description": "OpenKernel — provider-agnostic AI execution kernel. Native coding agent + mission-driven execution runtime.",
   "type": "module",
   "main": "./dist/kernel/index.js",

package/packages/robopark/scheduler/preview_agent.py

@@ -1695,15 +1695,66 @@ def create_video_capture(device: str, width: int, height: int, fps: int,
 # Audio capture abstraction: PyAudio or sounddevice -> LiveKit AudioFrame.
 # -----------------------------------------------------------------------------
 
-class AudioCapture:
+class AudioCapture:
     def read(self, samples_per_frame: int) -> Optional["rtc.AudioFrame"]:
         raise NotImplementedError
 
-    def stop(self) -> None:
-        raise NotImplementedError
-
-
-class PyAudioCapture(AudioCapture):
+    def stop(self) -> None:
+        raise NotImplementedError
+
+
+class AlsaAudioCapture(AudioCapture):
+    """Capture Linux PCM through the same ALSA path used by onsite tests."""
+
+    def __init__(self, device: str):
+        import re
+        import subprocess
+
+        match = re.search(r"\b(hw:\d+,\d+)\b", device)
+        if not match:
+            raise ValueError(f"no ALSA hardware address in {device!r}")
+        alsa_device = f"plug{match.group(1)}"
+        self.buffer = bytearray()
+        self.process = subprocess.Popen(
+            [
+                "arecord", "-q", "-D", alsa_device, "-t", "raw",
+                "-f", "S16_LE", "-r", "48000", "-c", "1",
+            ],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.DEVNULL,
+        )
+        if self.process.stdout is None:
+            raise RuntimeError("arecord did not provide a PCM stream")
+        self.alsa_device = alsa_device
+
+    def read(self, samples_per_frame: int):
+        from livekit import rtc
+
+        bytes_needed = samples_per_frame * 2
+        while len(self.buffer) < bytes_needed:
+            chunk = self.process.stdout.read(bytes_needed - len(self.buffer))
+            if not chunk:
+                raise OSError(f"ALSA capture stopped on {self.alsa_device}")
+            self.buffer.extend(chunk)
+        data = bytes(self.buffer[:bytes_needed])
+        del self.buffer[:bytes_needed]
+        return rtc.AudioFrame(
+            data=data,
+            sample_rate=48000,
+            num_channels=1,
+            samples_per_channel=samples_per_frame,
+        )
+
+    def stop(self):
+        if self.process.poll() is None:
+            self.process.terminate()
+            try:
+                self.process.wait(timeout=2)
+            except Exception:
+                self.process.kill()
+
+
+class PyAudioCapture(AudioCapture):
     def __init__(self, device: str | int | None):
         import pyaudio
         self.pa = pyaudio.PyAudio()
@@ -1782,10 +1833,15 @@ def has_audio() -> bool:
         return False
 
 
-def create_audio_capture(device: str) -> Optional[AudioCapture]:
-    if device.lower() in ("none", "", "false", "null"):
-        return None
-    try:
+def create_audio_capture(device: str) -> Optional[AudioCapture]:
+    if device.lower() in ("none", "", "false", "null"):
+        return None
+    if sys.platform.startswith("linux") and "hw:" in device:
+        try:
+            return AlsaAudioCapture(device)
+        except Exception as e:
+            logger.warning(f"ALSA capture unavailable for {device}: {e}")
+    try:
         import pyaudio  # noqa: F401
         return PyAudioCapture(device if device != "default" else None)
     except Exception as e: