infinicode 2.8.87 → 2.8.88

package/docs/ROBOPARK_PRODUCTION_MEMORY.md

@@ -70,6 +70,14 @@ for actual PCM frames before reporting `microphone_published`, reports a blocked
 stage when capture does not start within five seconds, and applies bounded mic
 gain before publication.
 
+### Camera Relay With Multiple Viewers
+
+RoboVision must have exactly one OpenCV camera reader. Preview, dashboard, and
+motion detection consume a shared latest-frame stream. Starting one
+`generate_frames()` camera loop per MJPEG client causes concurrent
+`VideoCapture.read()` calls, which can block the second client and make the hub
+relay time out with zero bytes.
+
 ### Duplicate Speaker Tests
 
 Only one robot process may claim a scheduler `speaker_test`. The scheduler

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.87",
+  "version": "2.8.88",
   "description": "OpenKernel — provider-agnostic AI execution kernel. Native coding agent + mission-driven execution runtime.",
   "type": "module",
   "main": "./dist/kernel/index.js",

package/packages/robopark/vision/app_pi_clean.py

@@ -18,6 +18,11 @@ CORS(app)
 # Camera management
 current_camera_index = 0
 camera = None
+camera_lock = threading.Lock()
+frame_condition = threading.Condition()
+latest_frame_bytes = None
+latest_frame_sequence = 0
+camera_worker_started = False
 audio_input_device = "default"
 audio_output_device = "default"
 ROBOVISION_AUDIO_URL = os.getenv("ROBOVISION_AUDIO_URL", "http://127.0.0.1:8000")
@@ -224,22 +229,25 @@ def send_webhook(frame_data):
     except Exception as e:
         print(f"Error preparing webhook: {e}")
 
-def generate_frames():
-    global latest_detections, motion_detection_active, motion_detected_state
-    global last_motion_time, motion_frame_buffer
-
-    prev_gray = None
-
-    while True:
-        cam = get_camera()
-        if cam is None or not cam.isOpened():
-            time.sleep(1)
-            continue
-
-        success, frame = cam.read()
-        if not success:
-            time.sleep(0.1)
-            continue
+def camera_worker():
+    global latest_detections, motion_detection_active, motion_detected_state
+    global last_motion_time, motion_frame_buffer
+    global latest_frame_bytes, latest_frame_sequence
+
+    prev_gray = None
+
+    while True:
+        with camera_lock:
+            cam = get_camera()
+        if cam is None or not cam.isOpened():
+            time.sleep(1)
+            continue
+
+        with camera_lock:
+            success, frame = cam.read()
+        if not success:
+            time.sleep(0.1)
+            continue
 
         # Run object detection
         processed_frame, detections = detect_objects(frame, conf_threshold=0.5)
@@ -288,11 +296,40 @@ def generate_frames():
 
             prev_gray = gray
 
-        ret, buffer = cv2.imencode('.jpg', processed_frame, [cv2.IMWRITE_JPEG_QUALITY, 80])
-        frame_bytes = buffer.tobytes()
-
-        yield (b'--frame\r\n'
-               b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
+        ret, buffer = cv2.imencode('.jpg', processed_frame, [cv2.IMWRITE_JPEG_QUALITY, 80])
+        if not ret:
+            continue
+        with frame_condition:
+            latest_frame_bytes = buffer.tobytes()
+            latest_frame_sequence += 1
+            frame_condition.notify_all()
+
+
+def _ensure_camera_worker():
+    global camera_worker_started
+    with frame_condition:
+        if camera_worker_started:
+            return
+        camera_worker_started = True
+    threading.Thread(target=camera_worker, name='robovision-camera', daemon=True).start()
+
+
+def generate_frames():
+    _ensure_camera_worker()
+    sequence = -1
+    while True:
+        with frame_condition:
+            frame_condition.wait_for(
+                lambda: latest_frame_bytes is not None and latest_frame_sequence != sequence,
+                timeout=5.0,
+            )
+            if latest_frame_bytes is None or latest_frame_sequence == sequence:
+                continue
+            frame_bytes = latest_frame_bytes
+            sequence = latest_frame_sequence
+
+        yield (b'--frame\r\n'
+               b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
 
 @app.route('/')
 def index():
@@ -379,11 +416,11 @@ def switch_camera():
     if isinstance(new_index, str) and new_index.isdigit():
         new_index = int(new_index)
 
-    if camera:
-        camera.release()
-
-    current_camera_index = new_index
-    camera = None
+    with camera_lock:
+        if camera:
+            camera.release()
+        current_camera_index = new_index
+        camera = None
 
     return jsonify({"status": "ok", "camera_index": current_camera_index})