infinicode 2.8.82 → 2.8.84

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;
     }
@@ -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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.82",
+  "version": "2.8.84",
   "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

@@ -397,6 +397,10 @@ class PreviewAgent:
         # use the resolved hardware name reported in that same inventory.
         self.audio_capture_device = self.audio_device
         self.audio_output_device = cfg.get("audio_output_device", os.getenv("AUDIO_OUTPUT_DEVICE", "default"))
+        # Keep RoboVision/sounddevice inventory IDs out of PyAudio. Both APIs
+        # number the same ALSA cards differently, so resolve the selected ID
+        # to its hardware name before opening any playback stream.
+        self.audio_playback_device = self.audio_output_device
         self.robovision_url = cfg.get("robovision_url", os.getenv("ROBOVISION_URL", "http://127.0.0.1:5000"))
         self.use_robovision_camera = bool(cfg.get("use_robovision_camera", False))
         self.width = int(cfg.get("video_width", os.getenv("VIDEO_WIDTH", DEFAULT_VIDEO_WIDTH)))
@@ -689,6 +693,16 @@ class PreviewAgent:
             if data.get("audio_output_device") is not None:
                 changed = changed or self.audio_output_device != data["audio_output_device"]
                 self.audio_output_device = data["audio_output_device"]
+                inventory = data.get("device_inventory") or {}
+                selected = str(self.audio_output_device)
+                self.audio_playback_device = next(
+                    (
+                        str(item.get("name"))
+                        for item in inventory.get("audio_output", [])
+                        if str(item.get("id")) == selected and item.get("name")
+                    ),
+                    self.audio_output_device,
+                )
             if changed:
                 await self._sync_robovision_media_config()
         except Exception as e:
@@ -812,7 +826,7 @@ class PreviewAgent:
         self._vision_last_activity = 0.0
         self._remote_session_ended = False
         await self._stop_publisher()
-        await asyncio.to_thread(_play_audio_effect, self.audio_output_device, "disconnect")
+        await asyncio.to_thread(_play_audio_effect, self.audio_playback_device, "disconnect")
         self._current_state = PreviewState()
 
     async def _heartbeat_loop(self) -> None:
@@ -865,7 +879,7 @@ class PreviewAgent:
             restore_state = self._current_state if self._publisher else None
             if restore_state:
                 await self._stop_publisher()
-                await asyncio.sleep(0.35)
+                await asyncio.sleep(1.0)
             try:
                 result = await asyncio.to_thread(_speaker_roundtrip_test, request.get("params") or {})
                 result["media_owner_paused"] = bool(restore_state)
@@ -1028,7 +1042,7 @@ class PreviewAgent:
         await asyncio.sleep(0.5)
         # I/O. Camera/mic join and the preset greeting are the critical path.
         asyncio.create_task(
-            asyncio.to_thread(_play_audio_effect, self.audio_output_device, "motion")
+            asyncio.to_thread(_play_audio_effect, self.audio_playback_device, "motion")
         )
         try:
             r = await self._session.post(
@@ -1234,7 +1248,7 @@ class LiveKitPublisher:
         # never actually reaching the real speakers. Prefer WASAPI's default output,
         # which is what Windows' own volume mixer/meter is backed by.
         output_device_index = None
-        selected_output = str(self.agent.audio_output_device or "default")
+        selected_output = str(self.agent.audio_playback_device or "default")
         if selected_output.strip().isdigit():
             output_device_index = int(selected_output.strip())
         try:

package/packages/robopark/scheduler/robot_supervisor.py

@@ -578,6 +578,49 @@ def _open_pcm_stream(pa, pyaudio_module, kind: str, device_index: Optional[int],
     )
 
 
+def _linux_aplay_pcm16(raw: bytes, selected_output: str, sample_rate: int,
+                       channels: int = 1) -> tuple[bool, str]:
+    """Play PCM through the same ALSA plughw path proven during Pi setup.
+
+    PortAudio and RoboVision enumerate devices in different index spaces. The
+    inventory name contains the stable ALSA hw tuple, so use it directly and
+    let ALSA's plug layer adapt the cached TTS sample rate/channel count.
+    """
+    import re
+
+    match = re.search(r"hw:(\d+),(\d+)", str(selected_output), re.IGNORECASE)
+    if not match:
+        return False, "selected output has no ALSA hw address"
+    alsa_device = f"plughw:{match.group(1)},{match.group(2)}"
+    command = [
+        "aplay", "-q", "-D", alsa_device, "-t", "raw", "-f", "S16_LE",
+        "-r", str(sample_rate), "-c", str(channels),
+    ]
+    last_error = "aplay failed"
+    # ALSA can retain an exclusive USB handle briefly after the LiveKit
+    # playback stream closes. Retry for a bounded period instead of declaring
+    # a valid device unsupported on the first EBUSY response.
+    for attempt in range(5):
+        if attempt:
+            time.sleep(0.5)
+        try:
+            completed = subprocess.run(
+                command,
+                input=raw,
+                stdout=subprocess.DEVNULL,
+                stderr=subprocess.PIPE,
+                timeout=max(5.0, len(raw) / max(1, sample_rate * channels * 2) + 3.0),
+                check=False,
+            )
+        except Exception as exc:
+            last_error = f"{type(exc).__name__}: {exc}"
+            continue
+        if completed.returncode == 0:
+            return True, alsa_device
+        last_error = completed.stderr.decode("utf-8", errors="replace").strip() or f"aplay exited {completed.returncode}"
+    return False, f"{alsa_device}: {last_error}"
+
+
 def _speaker_roundtrip_test(params: dict) -> dict:
     """Play a test tone + record the mic simultaneously; return metrics.
 
@@ -618,10 +661,46 @@ def _speaker_roundtrip_test(params: dict) -> dict:
         if dur > 10.0:
             return {"ok": False, "error": "cached TTS audio exceeds the 10 second test limit"}
     n_samples = int(source_rate * dur)
-    if n_samples < 480:
-        return {"ok": False, "error": "duration too short"}
-
-    pa = pyaudio.PyAudio()
+    if n_samples < 480:
+        return {"ok": False, "error": "duration too short"}
+
+    # Cached character voice is output-only. On Linux, bypass PortAudio's
+    # unrelated index space and use the exact ALSA plughw endpoint selected by
+    # RoboVision. This is the same path used by the successful onsite test.
+    if playback_only and mono_pcm is not None and sys.platform.startswith("linux"):
+        t0 = time.monotonic()
+        played, detail = _linux_aplay_pcm16(mono_pcm, str(out_name), source_rate)
+        duration_ms = int((time.monotonic() - t0) * 1000)
+        if not played:
+            return {
+                "ok": False,
+                "error": f"ALSA playback failed: {detail}",
+                "duration_ms": duration_ms,
+                "output_device": str(out_name),
+                "input_device": "not opened (speaker-only test)",
+                "duration": dur,
+            }
+        return {
+            "ok": True,
+            "pass": True,
+            "played": True,
+            "playback_only": True,
+            "mode": mode,
+            "text": params.get("text"),
+            "cache_hit": bool(params.get("cache_hit")),
+            "tts_provider": params.get("tts_provider"),
+            "tts_voice": params.get("tts_voice"),
+            "duration": dur,
+            "duration_ms": duration_ms,
+            "sample_rate": source_rate,
+            "output_sample_rate": source_rate,
+            "output_channels": 1,
+            "output_device": detail,
+            "input_device": "not opened (speaker-only test)",
+            "diagnostic": "cached voice played through the selected ALSA plughw endpoint",
+        }
+
+    pa = pyaudio.PyAudio()
     out_idx = _resolve_audio_device(pa, out_name, "output")
     in_idx = None if playback_only else _resolve_audio_device(pa, in_name, "input")
     def _dev_name(idx):