infinicode 2.8.93 → 2.8.95

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

@@ -162,6 +162,8 @@ section h2 .count{color:var(--muted);}
 .fleet-attention{display:grid;gap:.36rem;max-height:154px;overflow:auto}.fleet-alert-row{display:grid;grid-template-columns:7px 1fr auto;gap:.48rem;align-items:start;padding:.36rem .42rem;border-radius:8px;background:rgba(255,255,255,.018);font-size:.61rem}.fleet-alert-row i{width:7px;height:7px;border-radius:50%;margin-top:.28rem;background:var(--warn)}.fleet-alert-row.bad i{background:var(--bad)}.fleet-alert-row.ok i{background:var(--ok)}.fleet-alert-row b{display:block;color:var(--ink);font-size:.62rem}.fleet-alert-row span{color:var(--muted);font-size:.56rem}.fleet-alert-row em{font-family:var(--mono);font-style:normal;font-size:.5rem;color:var(--muted);white-space:nowrap}
 .fleet-release{grid-column:1/-1;display:flex;align-items:center;gap:.55rem;flex-wrap:wrap;padding:.55rem .7rem}.fleet-release .version-pill{font-family:var(--mono);font-size:.56rem;border:1px solid var(--glass-border);border-radius:100px;padding:.18rem .5rem;color:var(--muted)}.fleet-release .version-pill.current{color:var(--ok);border-color:rgba(111,224,166,.28)}
 .node .fleet-card-actions{display:flex;gap:.35rem;flex-wrap:wrap;margin-top:.65rem;padding-top:.55rem;border-top:1px solid var(--glass-border)}
+.fleet-live-camera{position:relative;aspect-ratio:16/9;margin:.55rem 0;border:1px solid var(--glass-border);border-radius:12px;overflow:hidden;background:radial-gradient(circle at 50% 35%,rgba(246,215,123,.08),transparent 44%),#050504;box-shadow:inset 0 1px 0 var(--glass-hi)}
+.fleet-live-camera img{width:100%;height:100%;display:block;object-fit:cover;background:#050504}.fleet-live-camera .state{position:absolute;left:.5rem;bottom:.45rem;padding:.18rem .4rem;border-radius:100px;background:rgba(3,3,2,.78);border:1px solid var(--glass-border);font-family:var(--mono);font-size:.5rem;color:var(--warn);backdrop-filter:blur(8px)}.fleet-live-camera.live .state{color:var(--ok)}.fleet-live-camera.failed .state{color:var(--bad)}
 @media(max-width:1150px){.fleet-kpis{grid-template-columns:repeat(3,1fr)}.fleet-insights{grid-template-columns:1fr 1fr}.fleet-insights .fleet-panel:last-of-type{grid-column:1/-1}}
 @media(max-width:720px){.fleet-hero{align-items:flex-start;flex-direction:column}.fleet-hero-actions{justify-content:flex-start}.fleet-kpis{grid-template-columns:repeat(2,1fr)}.fleet-insights{display:block}.fleet-panel{margin-bottom:.65rem}.fleet-readiness{grid-template-columns:90px 1fr}.fleet-donut{width:86px;height:86px}}
 
@@ -1484,6 +1486,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
   }
   function renderFleet(nodes){
     var el = $('fleet');
+    // Keep existing MJPEG elements alive while telemetry cards are rebuilt.
+    // Replacing an <img> tears down its long-lived stream and made cameras
+    // appear to reconnect on every fleet poll.
+    var preservedCameras={};
+    if(el){Array.prototype.forEach.call(el.querySelectorAll('[data-fleet-camera]'),function(img){var key=img.getAttribute('data-fleet-camera');if(key)preservedCameras[key]=img;});}
     renderFleetOperations(nodes||[],'fleet');
     if(!nodes || !nodes.length){ el.innerHTML = '<div class="empty">No nodes reporting yet. Start peers with <span class="mono">infinicode serve</span> or <span class="mono">robopark setup</span>.</div>'; return; }
     // connected first, then robots/satellites above hubs so the fleet reads robot-first
@@ -1510,13 +1517,18 @@ button.act:disabled{opacity:0.5;cursor:default;}
       var avatar=rpAvatarFor(tele&&(tele.character_name||tele.character_id)||n.displayName);
       var readiness=tele&&(tele.readiness_code||tele.status)||(!up?'offline':'mesh online');
       var hb=tele&&tele.heartbeat_age_seconds!=null?tele.heartbeat_age_seconds:null;
-      var site = n.site?(' · '+esc(n.site)):'';
+      var site = n.site?(' · '+esc(n.site)):'';
+      var cameraRef=n.displayName||n.name||n.nodeId||n.id;
 
       html += '<div class="node '+(up?'up':'down')+(selected===n.nodeId?' sel':'')+'" tabindex="0" role="button" data-id="'+esc(n.nodeId)+'" data-name="'+esc(n.displayName)+'">'
         + '<div class="top"><span class="name"><span class="statdot '+(up?'on':'off')+'"></span>'+esc(n.displayName)+(isSelf?' <span class="selfbadge">this</span>':'')+'</span><span class="role">'+esc(n.role)+'</span></div>'
         + '<div class="meta">'+esc(n.platform||'')+' '+esc((hw&&hw.cpu&&hw.cpu.model)?hw.cpu.model.replace(/\\s+/g,' ').slice(0,22):'')+site+' <span class="mono">v'+esc(n.version||'?')+'</span></div>'
         + (avatar?('<div class="node-hero"><img class="node-avatar" alt="'+esc(n.displayName)+'" src="'+esc(avatar+QS)+'"><div class="node-health"><b>'+esc(String(readiness).replace(/_/g,' '))+'</b><br>'
           +(tele?('sessions '+esc(tele.sessions_total||0)+' / triggers '+esc(tele.trigger_count||0)+'<br>latency '+esc(tele.avg_latency_ms!=null?Math.round(tele.avg_latency_ms)+'ms':'n/a')+' / drops '+esc(tele.drop_rate!=null?Math.round(tele.drop_rate*100)+'%':'n/a')+'<br>heartbeat '+esc(hb!=null?hb+'s ago':'unavailable')):'scheduler telemetry pending')+'</div></div>'):'');
+
+      if((tele||String(n.role||'').toLowerCase()==='satellite'||String(n.role||'').toLowerCase()==='robot')&&cameraRef){
+        html += '<div class="fleet-live-camera" data-fleet-camera-host="'+esc(cameraRef)+'"><img alt="Live camera for '+esc(n.displayName)+'" data-fleet-camera="'+esc(cameraRef)+'"><span class="state">'+(up?'connecting camera':'robot offline')+'</span></div>';
+      }
 
       if(up){
         html += mrow('CPU', cpu, cpu+'%'+(cores?(' /'+cores+'c'):''), loadClass(cpu))
@@ -1536,7 +1548,20 @@ button.act:disabled{opacity:0.5;cursor:default;}
       html += (capHtml?('<div class="caps">'+capHtml+'</div>'):'')
         + ((tele||String(n.role||'').toLowerCase()==='satellite')?('<div class="fleet-card-actions"><button class="rp-btn primary" data-fleet-action="camera" data-robot="'+esc(n.displayName)+'">Live camera</button><button class="rp-btn" data-fleet-action="sessions" data-robot="'+esc(n.displayName)+'">Sessions</button><button class="rp-btn" data-fleet-action="incidents" data-robot="'+esc(n.displayName)+'">Health</button>'+(tele&&(tele.character_id||tele.character_preset_id)?'<button class="rp-btn" data-config-edit-character="'+esc(tele.character_id||tele.character_preset_id)+'">Edit character</button>':'')+(tele&&tele.voice_stack_id?'<button class="rp-btn" data-config-edit-stack="'+esc(tele.voice_stack_id)+'">Edit voice</button>':'')+'</div>'):'')+'</div>';
     }
-    el.innerHTML = html;
+    el.innerHTML = html;
+    Array.prototype.forEach.call(el.querySelectorAll('[data-fleet-camera]'),function(placeholder){
+      var key=placeholder.getAttribute('data-fleet-camera'),old=preservedCameras[key];
+      if(old){placeholder.parentNode.replaceChild(old,placeholder);placeholder=old;}
+      var host=placeholder.closest('[data-fleet-camera-host]'),state=host&&host.querySelector('.state');
+      function connect(){
+        if(!placeholder.isConnected)return;
+        placeholder.src='/fed/media/robots/'+encodeURIComponent(key)+'/video_feed'+QS+(QS?'&':'?')+'_='+Date.now();
+      }
+      placeholder.onload=function(){if(host){host.classList.add('live');host.classList.remove('failed');}if(state)state.textContent='always-on live';};
+      placeholder.onerror=function(){if(host){host.classList.remove('live');host.classList.add('failed');}if(state)state.textContent='reconnecting camera';placeholder.removeAttribute('src');setTimeout(connect,4000);};
+      if(!placeholder.getAttribute('src'))connect();
+      else if(host){host.classList.add('live');if(state)state.textContent='always-on live';}
+    });
     var cards = el.querySelectorAll('.node');
     for(var j=0;j<cards.length;j++){
       (function(card){
@@ -6161,8 +6186,8 @@ button.act:disabled{opacity:0.5;cursor:default;}
       }).catch(function(e){ var pm=$('pk-prodmode'); if(pm) pm.checked=!on; showOut('production mode ('+id+'): '+e.message); });
     }
     // ── on-demand operator preview: open the robot's cam without a scene-detection session ──
-    function updateGoLive(){ var b=$('pk-golive'); if(b){ b.textContent = previewOn?'■ Stop live':'▶ Go live'; b.classList.toggle('danger', previewOn); } }
-    function goLive(n){ if(previewOn) stopPreview(n); else startPreview(n); }
+    function updateGoLive(){ var b=$('pk-golive'); if(b){ b.textContent='↻ Reconnect camera'; b.classList.remove('danger'); } }
+    function goLive(n){ stopVision(); tryVisionOverlay(n,true); }
     function startPreview(n){
       previewOn=true; updateGoLive();
       if(lkRoom){ try{ lkRoom.disconnect(); }catch(e){} lkRoom=null; }
@@ -6189,9 +6214,8 @@ button.act:disabled{opacity:0.5;cursor:default;}
       previewOn=false; updateGoLive();
       if(previewTimer){ clearInterval(previewTimer); previewTimer=null; }
       if(lkRoom){ try{ lkRoom.disconnect(); }catch(e){} lkRoom=null; }
-      stopVision();
       var directNote=$('pk-golivenote'); if(directNote) directNote.textContent='';
-      idleCam('idle');
+      tryVisionOverlay(n,true);
       return;
       previewOn=false; updateGoLive();
       if(previewTimer){ clearInterval(previewTimer); previewTimer=null; }
@@ -6582,39 +6606,42 @@ button.act:disabled{opacity:0.5;cursor:default;}
     // Long-poll the result endpoint. The scheduler blocks up to 8s
     // before returning timed_out: true; we just respect that and
     // give the operator a clear "still waiting" line in the output.
-    function _shellWaitForResult(robotId, requestId, deviceId, service, label){
+    function _shellWaitForResult(robotId, requestId, deviceId, service, label){
       var url = '/robopark/api/robots/'+encodeURIComponent(robotId)+'/shell/wait/'+encodeURIComponent(requestId)+'?timeout=8';
       var pollOnce = function(){
         return getJson(url).then(function(r){
-          if(r && r.completed){
-            var result = r.result || {};
-            _renderShellResult(robotId, result, label);
-            return;
+          if(r && r.completed){
+            var result = r.result || {};
+            _renderShellResult(robotId, result, label);
+            return result;
           }
           // Not done yet — fall through to manual polling
           throw new Error('not_ready');
         });
       };
-      return pollOnce().catch(function(){
+      return pollOnce().catch(function(){
         // Manual poll loop (covers the case where /wait timed out but
         // the robot is still chewing). Cap at 12s of fallback polling.
         var deadline = Date.now() + 12000;
-        var tick = function(){
-          if(Date.now() > deadline){
-            _setShellStatus(robotId, '⚠ '+label+' did not complete in 20s — robot may be offline', 'error');
-            _shellAppend(robotId, 'status', '✗ '+label+' did not complete in 20s');
-            return;
-          }
-          getJson('/robopark/api/robots/'+encodeURIComponent(robotId)+'/shell/result/'+encodeURIComponent(requestId))
-            .then(function(r){
-              if(r && r.completed){ _renderShellResult(robotId, r.result || {}, label); return; }
-              setTimeout(tick, 500);
-            })
-            .catch(function(){ setTimeout(tick, 800); });
-        };
-        tick();
-      });
-    }
+        return new Promise(function(resolve,reject){
+          var tick = function(){
+            if(Date.now() > deadline){
+              _setShellStatus(robotId, '⚠ '+label+' did not complete in 20s — robot may be offline', 'error');
+              _shellAppend(robotId, 'status', '✗ '+label+' did not complete in 20s');
+              reject(new Error(label+' did not complete in 20s'));
+              return;
+            }
+            getJson('/robopark/api/robots/'+encodeURIComponent(robotId)+'/shell/result/'+encodeURIComponent(requestId))
+              .then(function(r){
+                if(r && r.completed){var result=r.result||{};_renderShellResult(robotId,result,label);resolve(result);return;}
+                setTimeout(tick,500);
+              })
+              .catch(function(){setTimeout(tick,800);});
+          };
+          tick();
+        });
+      });
+    }
     function _renderShellResult(robotId, result, label){
       if(!result || !result.ok){
         var err = (result && result.error) || '(no response)';
@@ -6688,11 +6715,11 @@ button.act:disabled{opacity:0.5;cursor:default;}
             +'<img id="pk-vision-img" style="width:100%;height:100%;object-fit:cover;position:absolute;inset:0;display:none;border-radius:inherit" alt="vision feed"/>'
             +'<div class="hud"><div class="rec"><i></i>REC · '+esc(n.name)+'</div><div class="tr" id="pk-camres">— · —</div><div class="br" id="pk-camts">--:--:--</div></div></div>'
             +'<div class="pk-note" id="pk-camnote">seeking live feed…</div>'
-            +'<div class="pk-ctl" style="margin-top:0.5rem"><button class="rp-btn" id="pk-golive" data-robot="'+esc(n.name)+'">▶ Go live</button><button class="rp-btn primary" id="pk-camera-fullscreen">Fullscreen operations view</button><span class="pk-note" id="pk-golivenote" style="margin:0"></span></div>'
+            +'<div class="pk-ctl" style="margin-top:0.5rem"><button class="rp-btn" id="pk-golive" data-robot="'+esc(n.name)+'">↻ Reconnect camera</button><button class="rp-btn primary" id="pk-camera-fullscreen">Fullscreen operations view</button><span class="pk-note" id="pk-golivenote" style="margin:0">always-on RoboVision relay</span></div>'
             +'<label class="pk-prodtoggle"><input type="checkbox" id="pk-prodmode"'+(devForPm.production_mode?' checked':'')+'><span>Production mode — continuous motion-triggered loop, camera always live</span></label>')
         + sect('Remote production test','<div id="pk-pipeline-summary" class="pk-pipeline-summary">Checking robot, camera, scheduler and LiveKit...</div>'
-          + '<div class="pk-ctl" style="margin-top:0.55rem"><button class="rp-btn primary" id="pk-pipeline-start">Start full test</button><button class="rp-btn danger" id="pk-pipeline-stop">Stop conversation</button></div>'
-          + '<div class="pk-note">Starts the camera, sends the same motion trigger used in production, and follows every reported stage remotely.</div>'
+          + '<div class="pk-ctl" style="margin-top:0.55rem"><button class="rp-btn primary" id="pk-unattended-test">Run unattended readiness</button><button class="rp-btn" id="pk-pipeline-start">Start full test</button><button class="rp-btn danger" id="pk-pipeline-stop">Stop conversation</button></div>'
+          + '<div class="pk-note" id="pk-unattended-result">Unattended readiness runs an acoustic speaker/mic round-trip, triggers the production motion path, and requires greeting playback on the robot.</div>'
           + '<div class="pk-pipeline" id="pk-pipeline"></div>')
         + sect('🎙 microphone','<div class="pk-meter"><span class="lab">input</span><div class="pk-bars" id="pk-micbars"></div><span class="pk-val" id="pk-micval">—</span></div><div class="pk-note" id="pk-micstate">awaiting robot audio plugin</div><div class="pk-ctl" style="margin-top:.5rem"><button class="rp-btn" id="pk-mic-listen">Listen in browser</button><label class="pk-note" style="display:flex;align-items:center;gap:.35rem;margin:0">volume <input id="pk-mic-volume" type="range" min="0" max="100" value="80" style="width:90px"></label></div><div class="pk-note" id="pk-mic-listen-note">Muted by default. Use headphones to prevent acoustic feedback.</div>')
         + sect('🔊 speaker','<canvas class="pk-wave" id="pk-spkwave" width="360" height="32"></canvas><div class="pk-meter"><span class="lab">output</span><div class="pk-bars" id="pk-spkbars"></div><span class="pk-val" id="pk-spkval">—</span></div><div class="pk-note" id="pk-spkstate">TTS plays on the robot speaker — use “Test speaker” below to round-trip a tone and confirm the audio path</div>'
@@ -6748,9 +6775,6 @@ button.act:disabled{opacity:0.5;cursor:default;}
         var gl=$('pk-golive');
         if(gl){
           gl.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } goLive(n); });
-          var vl=document.createElement('button'); vl.className='rp-btn'; vl.id='pk-vision-live'; vl.textContent='Open RoboVision feed';
-          vl.addEventListener('click', function(){ tryVisionOverlay(n, true); if(!visionOn) showOut('RoboVision feed unavailable: robot has no reachable LAN/Tailscale address'); });
-          gl.after(vl);
         }
         var fullCam=$('pk-camera-fullscreen'); if(fullCam) fullCam.addEventListener('click',function(){ openCameraOperations(n); });
         var editCharacter=$('pk-edit-character'); if(editCharacter) editCharacter.addEventListener('click',function(){var id=$('pk-eff-char').value;if(id)openCharacterManager(id);else showOut('Choose a character to edit');});
@@ -6766,6 +6790,7 @@ button.act:disabled{opacity:0.5;cursor:default;}
         var eb=$('pk-end'); if(eb) eb.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } endSession(schedId(n)); });
          var rb=$('pk-recover'); if(rb) rb.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } recoverRobot(schedId(n)); });
         var pipelineStart=$('pk-pipeline-start'); if(pipelineStart) pipelineStart.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } startPipelineTest(n); });
+        var unattended=$('pk-unattended-test'); if(unattended) unattended.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } runUnattendedReadiness(n); });
         var pipelineStop=$('pk-pipeline-stop'); if(pipelineStop) pipelineStop.addEventListener('click', function(){ if(rpReadOnly){ showOut('read-only node'); return; } stopPipelineTest(n); });
         pollPipeline(n);
         if(pipelineTimer) clearInterval(pipelineTimer);
@@ -6842,6 +6867,53 @@ button.act:disabled{opacity:0.5;cursor:default;}
         showOut('conversation stopped for '+(n.label||n.name)); pollPipeline(n); startCam(n);
       }).catch(function(e){ showOut('stop test: '+e.message); });
     }
+    function runUnattendedReadiness(n){
+      var button=$('pk-unattended-test'),resultEl=$('pk-unattended-result'),robotId=schedId(n),device=schedulerDevice(n)||{};
+      if(!device.id){showOut('Robot has no scheduler device identity');return;}
+      if(button){button.disabled=true;button.textContent='Testing hardware...';}
+      function report(text,bad){if(resultEl){resultEl.textContent=text;resultEl.style.color=bad?'var(--bad)':'var(--warn)';}}
+      function delay(ms){return new Promise(function(resolve){setTimeout(resolve,ms);});}
+      function status(){return getJson('/robopark/api/robots/'+encodeURIComponent(robotId)+'/pipeline-status'+QS);}
+      function waitForGreeting(deadline){
+        return status().then(function(data){
+          renderPipeline(data);
+          var sid=data.latest_session&&data.latest_session.id,seen={};
+          (data.events||[]).forEach(function(ev){if(!ev.session_id||!sid||ev.session_id===sid)seen[ev.stage]=ev;});
+          var required=['scheduler_session','livekit_join','camera_published','microphone_published','tts_subscribed','playback_started'];
+          var missing=required.filter(function(stage){return !seen[stage]||seen[stage].status!=='ok';});
+          if(!missing.length)return {data:data,required:required};
+          if(Date.now()>deadline)throw new Error('production greeting timed out; missing '+missing.join(', '));
+          report('Pipeline running · waiting for '+missing.join(', '));
+          return delay(1500).then(function(){return waitForGreeting(deadline);});
+        });
+      }
+      var inv=device.device_inventory||{},media=inv.media_health||{};
+      var cameraProblems=[];
+      if(media.camera_access===false)cameraProblems.push('camera permission denied');
+      if(media.camera_stalled===true)cameraProblems.push('camera worker stalled');
+      if(media.camera_frame_age_seconds!=null&&Number(media.camera_frame_age_seconds)>15)cameraProblems.push('camera frame '+Math.round(Number(media.camera_frame_age_seconds))+'s old');
+      if(cameraProblems.length){report('FAILED · '+cameraProblems.join(' · '),true);if(button){button.disabled=false;button.textContent='Run unattended readiness';}return;}
+      report('Camera healthy · running physical speaker/mic round-trip');
+      rpAction('POST','/robopark/api/robots/'+encodeURIComponent(robotId)+'/shell/speaker-test',{
+        mode:'tone',playback_only:false,frequency:1000,duration:0.8,amplitude:0.6,threshold_db:-30,
+        output:'1',input:'2',output_name:'USB Audio Device: -',input_name:'Usb Audio Device: USB Audio'
+      }).then(function(q){return _shellWaitForResult(robotId,q.request_id,q.device_id||robotId,'','speaker-test');})
+        .then(function(acoustic){
+          if(!acoustic||!acoustic.ok||acoustic.pass!==true)throw new Error((acoustic&&acoustic.error)||(acoustic&&acoustic.diagnostic)||'speaker/mic acoustic round-trip failed');
+          report('Acoustic path passed · starting production motion and greeting');
+          if(button)button.textContent='Testing production loop...';
+          var enable=device.production_mode?Promise.resolve():rpAction('PATCH','/robopark/api/devices/'+encodeURIComponent(device.id),{production_mode:true}).then(function(){device.production_mode=true;});
+          return enable.then(function(){return rpAction('POST','/robopark/api/robots/'+encodeURIComponent(robotId)+'/pipeline-test/start',{});});
+        })
+        .then(function(queued){if(!queued||!queued.queued)throw new Error(queued&&queued.reason||'production trigger was not queued');return waitForGreeting(Date.now()+45000);})
+        .then(function(done){
+          report('PASSED · camera fresh · acoustic speaker/mic path confirmed · motion → scheduler → LiveKit → mic/camera → TTS → robot playback confirmed');
+          if(resultEl)resultEl.style.color='var(--ok)';
+          showOut('unattended production readiness passed for '+(n.label||n.name));
+        })
+        .catch(function(e){report('FAILED · '+e.message,true);showOut('unattended readiness: '+e.message);})
+        .then(function(){if(button){button.disabled=false;button.textContent='Run unattended readiness';}});
+    }
     function refreshDrawer(){
       var n=drawerId?byId[drawerId]:null; if(!n) return;
       if(n.kind==='robot' && !deviceSelectorsReady && $('pk-video-device')){

package/dist/robopark/robot-runtime.js

@@ -83,6 +83,10 @@ export async function roboparkRobotRuntime(opts) {
     const children = [];
     let stopping = false;
     let recycling = false;
+    const requestedVideo = String(opts.videoDevice ?? '').trim();
+    const hardwareVideo = !requestedVideo || ['auto', 'default', 'first'].includes(requestedVideo.toLowerCase())
+        ? '/dev/video0'
+        : requestedVideo;
     const infinicode = await resolveInfinicodeBin();
     if (!infinicode)
         throw new Error('could not resolve infinicode CLI');
@@ -100,14 +104,15 @@ export async function roboparkRobotRuntime(opts) {
             args: [cli, 'vision-agent', '--foreground', '--port', '5000',
                 '--motion-webhook-url', 'http://127.0.0.1:5057/'],
             env: {
-                ROBOPARK_CAMERA_DEVICE: opts.videoDevice ?? '/dev/robopark-camera',
+                ROBOPARK_CAMERA_DEVICE: hardwareVideo,
             },
         });
     }
     const previewArgs = [cli, 'preview-agent', '--foreground',
         '--scheduler-url', opts.schedulerUrl, '--robot-id', opts.name,
-        '--video-device', opts.videoDevice ?? '/dev/video0',
+        '--video-device', hardwareVideo,
         '--audio-device', opts.audioDevice ?? 'Usb Audio Device: USB Audio (hw:3,0)',
+        '--robovision-url', 'http://127.0.0.1:5000',
         '--save-config'];
     if (opts.enrollmentToken)
         previewArgs.push('--enrollment-token', opts.enrollmentToken);
@@ -127,6 +132,9 @@ export async function roboparkRobotRuntime(opts) {
                 ? 'http://127.0.0.1:5000/api/media/inventory'
                 : '',
             ROBOVISION_CAMERA: opts.vision !== false ? '1' : '0',
+            // Motion remains enabled, but it reads RoboVision's shared stream. Only
+            // RoboVision may open the physical V4L2 device.
+            LOCAL_CAMERA_MOTION: 'true',
             // Fleet hardware profile: resolve volatile ALSA hw:X,Y coordinates
             // from these USB product labels on every inventory refresh.
             ROBOPARK_AUDIO_INPUT_MATCH: 'Usb Audio Device: USB Audio',

package/docs/ROBOPARK_PRODUCTION_MEMORY.md

@@ -142,3 +142,21 @@ Required result: `playback_started  ok`.
   status and recycles media after three consecutive unhealthy checks.
 - Park media operations display camera/audio permission, camera worker state,
   and latest frame age from `device_inventory.media_health`.
+- Camera visibility is independent of conversation sessions. Fleet cards and
+  the robot drawer use the RoboVision mesh MJPEG relay continuously and keep
+  stream elements alive across telemetry rerenders.
+- The dashboard unattended readiness test requires camera health, an acoustic
+  speaker-to-microphone round-trip, scheduler allocation, LiveKit join, camera
+  and microphone publication, TTS subscription, and first robot playback.
+- An unattended readiness pass does not claim an STT/LLM turn occurred. That
+  semantic turn still requires injected speech or a person near the robot.
+
+## Camera Ownership Contract (2.8.95+)
+
+- RoboVision is the only process permitted to open the physical V4L2 camera.
+- Dashboard, motion sampling, and conversation video consume RoboVision's
+  shared MJPEG stream; they never open `/dev/video0` independently.
+- Local camera motion remains enabled by default. Production mode controls
+  whether motion creates a conversation, not whether the camera worker runs.
+- `auto`, `default`, and `first` resolve to `/dev/robopark-camera` when present,
+  otherwise `/dev/video0`; those literal strings are never passed to OpenCV.

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "infinicode",
-  "version": "2.8.93",
+  "version": "2.8.95",
   "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

@@ -486,7 +486,7 @@ class PreviewAgent:
         # 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.use_robovision_camera = bool(cfg.get("use_robovision_camera", True))
         self.width = int(cfg.get("video_width", os.getenv("VIDEO_WIDTH", DEFAULT_VIDEO_WIDTH)))
         self.height = int(cfg.get("video_height", os.getenv("VIDEO_HEIGHT", DEFAULT_VIDEO_HEIGHT)))
         self.fps = int(cfg.get("video_fps", os.getenv("VIDEO_FPS", DEFAULT_FPS)))
@@ -522,7 +522,8 @@ class PreviewAgent:
         self._speaker_operation_lock = asyncio.Lock()
         self._vision_hard_deadline: float = 0.0
         self._vision_last_activity: float = 0.0
-        self.production_mode = False
+        self.production_mode = False
+        self._robovision_motion_state: Optional[bool] = None
         self._remote_session_ended = False
         self._last_device_config_poll = 0.0
         self._motion_reference = None
@@ -632,9 +633,13 @@ class PreviewAgent:
             if capture is not None:
                 await asyncio.to_thread(capture.stop)
 
-    async def _motion_loop(self) -> None:
-        """Own the camera while idle and detect motion without a second process."""
-        while not self._shutdown.is_set():
+    async def _motion_loop(self) -> None:
+        """Detect motion from RoboVision's shared stream without owning V4L2."""
+        while not self._shutdown.is_set():
+            if not self.production_mode:
+                await self._stop_motion_capture()
+                await asyncio.sleep(0.5)
+                continue
             if self._vision_session_id or self._current_state.active:
                 await self._stop_motion_capture()
                 await asyncio.sleep(0.25)
@@ -643,16 +648,17 @@ class PreviewAgent:
                 async with self._motion_capture_lock:
                     if self._motion_capture is None:
                         self._motion_capture = await asyncio.to_thread(
-                            create_video_capture,
-                            self.video_device,
-                            self.width,
-                            self.height,
-                            self.fps,
-                        )
+                            create_video_capture,
+                            self.video_device,
+                            self.width,
+                            self.height,
+                            self.fps,
+                            self.robovision_url,
+                        )
                         self._motion_reference = None
                         if self._motion_capture is None:
                             continue
-                        logger.info("motion camera opened by preview agent")
+                        logger.info("motion sampler connected to RoboVision shared stream")
                     frame = await asyncio.to_thread(self._motion_capture.read)
                 if frame is not None:
                     self._detect_motion(frame)
@@ -921,6 +927,20 @@ class PreviewAgent:
                     self._next_mesh_bootstrap = 0.0
                 if production_mode is not None:
                     self.production_mode = production_mode
+                    # Exactly one motion detector is active. With the default
+                    # local sampler enabled, preview reads RoboVision's shared
+                    # MJPEG stream and RoboVision only owns capture/encoding.
+                    robovision_motion = bool(production_mode and not self.local_camera_motion)
+                    if self._robovision_motion_state != robovision_motion:
+                        try:
+                            response = await self._session.post(
+                                f"{self.robovision_url.rstrip('/')}/api/motion/toggle",
+                                json={"enabled": robovision_motion}, timeout=1.5,
+                            )
+                            response.raise_for_status()
+                            self._robovision_motion_state = robovision_motion
+                        except Exception as exc:
+                            logger.warning(f"failed to synchronize RoboVision motion mode: {exc}")
                     await self._report_pipeline("robot_online", message="Robot heartbeat accepted")
                     inventory = _get_device_inventory()
                     real_video = [d for d in inventory.get("video", []) if str(d.get("id", "")).lower() not in ("auto", "none")]
@@ -2128,7 +2148,7 @@ def main() -> None:
         "audio_device": args.audio_device,
         "robovision_url": args.robovision_url or os.getenv("ROBOVISION_URL", "http://127.0.0.1:5000"),
         "use_robovision_camera": bool(args.robovision_url) or os.getenv(
-            "ROBOVISION_CAMERA", ""
+            "ROBOVISION_CAMERA", "true"
         ).lower() in ("1", "true", "yes", "on"),
         "video_width": args.width,
         "video_height": args.height,

package/packages/robopark/vision/app_pi_clean.py

@@ -17,8 +17,19 @@ CORS(app)
 
 # Camera management. Production installs create /dev/robopark-camera from
 # the primary USB capture interface, avoiding /dev/videoN renumbering.
+def _normalize_camera_device(value):
+    configured = str(value or "").strip()
+    if configured.lower() in ("", "auto", "default", "first"):
+        if sys.platform.startswith("linux"):
+            return "/dev/robopark-camera" if os.path.exists("/dev/robopark-camera") else "/dev/video0"
+        return 0
+    if configured.isdigit():
+        return int(configured)
+    return configured
+
+
 _configured_camera = os.getenv("ROBOPARK_CAMERA_DEVICE", "")
-current_camera_index = _configured_camera or ("/dev/robopark-camera" if os.path.exists("/dev/robopark-camera") else 0)
+current_camera_index = _normalize_camera_device(_configured_camera)
 camera = None
 camera_lock = threading.Lock()
 frame_condition = threading.Condition()
@@ -41,9 +52,17 @@ def _open_camera(index):
     # webcam — isOpened() then stays False forever and callers retry in an
     # infinite doomed loop. Force DirectShow, the backend that actually
     # enumerates standard Windows webcams.
-    if sys.platform == 'win32':
-        return cv2.VideoCapture(index, cv2.CAP_DSHOW)
-    return cv2.VideoCapture(index)
+    if sys.platform == 'win32':
+        return cv2.VideoCapture(index, cv2.CAP_DSHOW)
+    if sys.platform.startswith('linux'):
+        cap = cv2.VideoCapture(index, cv2.CAP_V4L2)
+        if cap.isOpened():
+            cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG'))
+            cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+            cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+            cap.set(cv2.CAP_PROP_FPS, 15)
+        return cap
+    return cv2.VideoCapture(index)
 
 
 def get_camera():
@@ -469,7 +488,7 @@ def switch_camera():
     with camera_lock:
         if camera:
             camera.release()
-        current_camera_index = new_index
+        current_camera_index = _normalize_camera_device(new_index)
         camera = None
 
     return jsonify({"status": "ok", "camera_index": current_camera_index})
@@ -531,7 +550,7 @@ def media_config():
                 switch_camera_value = value
                 if camera:
                     camera.release()
-                current_camera_index = int(switch_camera_value) if switch_camera_value.isdigit() else switch_camera_value
+                current_camera_index = _normalize_camera_device(switch_camera_value)
                 camera = None
         if "audio_device" in data:
             audio_input_device = str(data["audio_device"])