robopark 2.8.36 → 3.1.0

package/dist/robopark/verify.js

@@ -0,0 +1,192 @@
+/**
+ * RoboPark — `robopark verify`.
+ *
+ * Checks the fleet end-to-end and reports what's working vs. missing:
+ *   - hub / scheduler reachable
+ *   - LiveKit configured and server registered
+ *   - production mode enabled
+ *   - robots/devices enrolled
+ *   - preview agent running on robots
+ *   - preview room can be started
+ *
+ * Usage:
+ *   robopark verify
+ *   robopark verify --scheduler-url http://livekit-1:8080 --robot-id robobmw
+ */
+import { existsSync } from 'node:fs';
+import { homedir, hostname } from 'node:os';
+import { join } from 'node:path';
+import chalk from 'chalk';
+import { discoverContext } from './discovery.js';
+function loadDeviceToken(robotId) {
+    const paths = [
+        join(homedir(), '.robopark', 'device_token'),
+    ];
+    for (const p of paths) {
+        if (existsSync(p))
+            return readFile(p);
+    }
+    return undefined;
+}
+function readFile(p) {
+    const { readFileSync } = require('node:fs');
+    return readFileSync(p, 'utf8').trim();
+}
+async function fetchJson(url, init) {
+    const res = await fetch(url, { ...init, signal: AbortSignal.timeout(5000) });
+    if (!res.ok)
+        throw new Error(`${res.status} ${res.statusText}`);
+    return res.json();
+}
+export async function roboparkVerify(opts) {
+    const ctx = await discoverContext();
+    const schedulerUrl = (opts.schedulerUrl ?? (ctx.hub ? `http://${ctx.hub.ip}:8080` : 'http://localhost:8080')).replace(/\/$/, '');
+    const robotId = opts.robotId ?? hostname().split('.')[0];
+    console.log(chalk.bold('\n  robopark verify'));
+    console.log(chalk.dim('  ' + '─'.repeat(52)));
+    console.log(`  scheduler: ${chalk.cyan(schedulerUrl)}`);
+    console.log(`  robot:     ${chalk.cyan(robotId)}`);
+    console.log();
+    const checks = [];
+    // 1. Scheduler reachable
+    try {
+        const settings = (await fetchJson(`${schedulerUrl}/api/settings`));
+        checks.push({ name: 'scheduler reachable', ok: true, message: `production_mode=${settings.production_mode ?? false}` });
+        if (!settings.production_mode) {
+            checks.push({ name: 'production mode', ok: false, message: 'Production mode is OFF. Toggle it in the dashboard or PUT /api/settings', detail: 'Pi preview/session enrollment is blocked until production mode is ON.' });
+        }
+        else {
+            checks.push({ name: 'production mode', ok: true, message: 'ON' });
+        }
+    }
+    catch (e) {
+        checks.push({ name: 'scheduler reachable', ok: false, message: `could not reach scheduler: ${e.message}`, detail: 'Is robopark serve running on the hub? Is the scheduler port open?' });
+    }
+    // 2. LiveKit configured
+    try {
+        const lk = (await fetchJson(`${schedulerUrl}/api/livekit/config`));
+        if (lk.url && lk.has_secret) {
+            checks.push({ name: 'livekit configured', ok: true, message: `url=${lk.url}` });
+        }
+        else {
+            checks.push({ name: 'livekit configured', ok: false, message: 'LiveKit URL or API secret missing', detail: 'Set LiveKit config in the dashboard or via robopark setup-livekit.' });
+        }
+    }
+    catch (e) {
+        checks.push({ name: 'livekit configured', ok: false, message: `error: ${e.message}` });
+    }
+    // 3. LiveKit server registered
+    try {
+        const servers = (await fetchJson(`${schedulerUrl}/api/servers`));
+        const online = servers.filter(s => s.status === 'online');
+        if (online.length > 0) {
+            checks.push({ name: 'livekit server registered', ok: true, message: `${online.length} online server(s)` });
+        }
+        else if (servers.length > 0) {
+            checks.push({ name: 'livekit server registered', ok: false, message: `${servers.length} server(s) but none online`, detail: 'Check that the LiveKit container/process is running and reachable from the hub.' });
+        }
+        else {
+            checks.push({ name: 'livekit server registered', ok: false, message: 'no servers in scheduler', detail: 'Add a LiveKit server in the dashboard or run robopark setup-livekit.' });
+        }
+    }
+    catch (e) {
+        checks.push({ name: 'livekit server registered', ok: false, message: `error: ${e.message}` });
+    }
+    // 4. Device enrolled
+    let deviceToken;
+    let deviceId;
+    try {
+        const devices = (await fetchJson(`${schedulerUrl}/api/devices`));
+        const device = devices.find(d => d.name === robotId || d.id === robotId);
+        if (device) {
+            deviceId = device.id;
+            checks.push({ name: 'device enrolled', ok: true, message: `${device.id} (${device.status})` });
+        }
+        else {
+            checks.push({ name: 'device enrolled', ok: false, message: `${robotId} not found in scheduler`, detail: 'Run robopark enroll on the robot with the scheduler enrollment token.' });
+        }
+    }
+    catch (e) {
+        checks.push({ name: 'device enrolled', ok: false, message: `error: ${e.message}` });
+    }
+    // 5. Local device token
+    deviceToken = loadDeviceToken(robotId);
+    if (deviceToken) {
+        checks.push({ name: 'local device token', ok: true, message: `found ~/.robopark/device_token` });
+    }
+    else {
+        checks.push({ name: 'local device token', ok: false, message: 'no ~/.robopark/device_token', detail: 'Run robopark enroll on this machine first.' });
+    }
+    // 6. Robot row exists
+    try {
+        const robots = (await fetchJson(`${schedulerUrl}/api/robots`));
+        const robot = robots.find(r => r.id === (deviceId || robotId) || r.name === robotId);
+        if (robot) {
+            checks.push({ name: 'robot registered', ok: true, message: `${robot.id} (${robot.status})` });
+        }
+        else {
+            checks.push({ name: 'robot registered', ok: false, message: `${robotId} not in robots table`, detail: 'The device should auto-create a robot row on enrollment. Re-run enroll or check scheduler logs.' });
+        }
+    }
+    catch (e) {
+        checks.push({ name: 'robot registered', ok: false, message: `error: ${e.message}` });
+    }
+    // 7. Preview agent polling
+    if (deviceToken) {
+        try {
+            const agentRes = (await fetchJson(`${schedulerUrl}/api/robots/${robotId}/preview/agent`, {
+                headers: { Authorization: `Bearer ${deviceToken}` },
+            }));
+            if (agentRes.active) {
+                checks.push({ name: 'preview agent polling', ok: true, message: 'preview currently active' });
+            }
+            else {
+                checks.push({ name: 'preview agent polling', ok: true, message: `no active preview (reason=${agentRes.reason || 'none'})`, detail: 'This is normal when the dashboard is not watching. Start a preview from the dashboard.' });
+            }
+        }
+        catch (e) {
+            checks.push({ name: 'preview agent polling', ok: false, message: `error: ${e.message}`, detail: 'Is robopark preview-agent running on the robot?' });
+        }
+    }
+    else {
+        checks.push({ name: 'preview agent polling', ok: false, message: 'skipped (no device token)' });
+    }
+    // 8. Try starting a preview from the operator side
+    try {
+        const preview = (await fetchJson(`${schedulerUrl}/api/robots/${robotId}/preview/start`, { method: 'POST' }));
+        if (preview.active) {
+            checks.push({ name: 'operator preview start', ok: true, message: `room assigned at ${preview.url}` });
+            // stop it so we don't leave a stale preview running
+            await fetch(`${schedulerUrl}/api/robots/${robotId}/preview/stop`, { method: 'POST' });
+        }
+        else {
+            checks.push({ name: 'operator preview start', ok: false, message: `could not start: ${preview.reason || 'unknown'}`, detail: 'Enable production mode, add a LiveKit server, and ensure the robot is not in a session.' });
+        }
+    }
+    catch (e) {
+        checks.push({ name: 'operator preview start', ok: false, message: `error: ${e.message}` });
+    }
+    // Print results
+    let pass = 0;
+    let fail = 0;
+    for (const c of checks) {
+        const icon = c.ok ? chalk.green('✓') : chalk.red('✗');
+        const color = c.ok ? chalk.green : chalk.red;
+        console.log(`  ${icon} ${color(c.name)} — ${c.message}`);
+        if (c.detail) {
+            console.log(chalk.dim(`    → ${c.detail}`));
+        }
+        if (c.ok)
+            pass++;
+        else
+            fail++;
+    }
+    console.log();
+    if (fail === 0) {
+        console.log(chalk.bold.green(`  ${pass}/${checks.length} checks passed — fleet is ready for preview.`));
+    }
+    else {
+        console.log(chalk.bold.yellow(`  ${pass}/${checks.length} passed, ${fail} failed — fix the items above.`));
+        process.exitCode = 1;
+    }
+}

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

@@ -0,0 +1,98 @@
+/**
+ * RoboPark — `robopark vision-agent` launcher.
+ *
+ * Starts app_pi_clean.py (RoboVisionAI_PI's camera/motion detector) with the
+ * right Python interpreter, self-armed and pointed at the local
+ * preview-agent's motion-webhook listener by default — no manual curl calls.
+ */
+import { spawn } from 'node:child_process';
+import chalk from 'chalk';
+import { findPython, findVisionPath, findVisionAudioPath, prepareRobotPython, VISION_REQUIRED_MODULES } from './python-env.js';
+const DEFAULT_VISION_PORT = 5000;
+const DEFAULT_MOTION_WEBHOOK_PORT = 5057; // must match preview-agent's --vision-webhook-port default
+function isPiArm() {
+    return process.platform === 'linux' && (process.arch === 'arm' || process.arch === 'arm64');
+}
+export async function roboparkVisionAgent(opts) {
+    const script = await findVisionPath();
+    if (!script) {
+        console.log(chalk.red('  ✗ could not find app_pi_clean.py'));
+        process.exit(1);
+    }
+    const basePython = findPython();
+    // Real Pi: opencv comes from `apt install python3-opencv`, not pip (see
+    // requirements_pi_unified.txt) — pip-installing it here would fight the
+    // ARM-optimized system build. Everywhere else: plain pip install works.
+    const reqFile = isPiArm() ? 'requirements_vision_agent.txt' : 'requirements-demo.txt';
+    const requiredModules = isPiArm() ? [...VISION_REQUIRED_MODULES, 'fastapi', 'uvicorn', 'sounddevice', 'soundfile', 'groq', 'lgpio'] : VISION_REQUIRED_MODULES;
+    const python = prepareRobotPython(basePython, script, requiredModules, reqFile);
+    if (!python)
+        process.exit(1);
+    const port = opts.port ?? String(DEFAULT_VISION_PORT);
+    const webhookUrl = opts.motionWebhookUrl ?? `http://127.0.0.1:${DEFAULT_MOTION_WEBHOOK_PORT}/`;
+    const motionActive = opts.motionActive ?? true; // armed by default — "vision trigger as production system"
+    const args = [script, '--port', port, '--motion-webhook-url', webhookUrl];
+    if (motionActive)
+        args.push('--motion-active');
+    // The original RoboVision audio selector lives in audio_server_pi.py.
+    // Start it beside the camera service on real Pi robots so /devices and
+    // /set-device remain the authoritative source for Park dropdowns.
+    let audioScript = null;
+    if (isPiArm()) {
+        audioScript = await findVisionAudioPath();
+    }
+    console.log(chalk.bold('\n  robopark vision-agent'));
+    console.log(chalk.dim('  ' + '─'.repeat(52)));
+    console.log(`  port:    ${chalk.cyan(port)}`);
+    console.log(`  webhook: ${chalk.cyan(webhookUrl)}`);
+    console.log(`  motion:  ${motionActive ? chalk.green('armed') : chalk.dim('off')}`);
+    if (audioScript)
+        console.log(`  audio:   ${chalk.green('RoboVision audio server :8000')}`);
+    console.log(`  motors:  ${chalk.dim('managed independently by robopark motor :8001')}`);
+    console.log();
+    if (opts.foreground) {
+        const audio = audioScript
+            ? spawn(python, [audioScript], { stdio: 'inherit', env: { ...process.env, ROBOPARK_AUDIO_SERVER: '1' } })
+            : null;
+        const camera = spawn(python, args, { stdio: 'inherit' });
+        let stopping = false;
+        const stopChildren = () => {
+            if (stopping)
+                return;
+            stopping = true;
+            camera.kill('SIGTERM');
+            audio?.kill('SIGTERM');
+        };
+        process.once('SIGINT', stopChildren);
+        process.once('SIGTERM', stopChildren);
+        // If either required media service exits, tear down its sibling. The
+        // robot runtime then restarts one coherent pair instead of accumulating
+        // orphan audio servers and duplicate owners of ports/devices.
+        await new Promise((resolve) => {
+            let resolved = false;
+            const finish = () => {
+                if (resolved)
+                    return;
+                resolved = true;
+                stopChildren();
+                resolve();
+            };
+            camera.once('close', finish);
+            audio?.once('close', finish);
+        });
+        return;
+    }
+    if (audioScript) {
+        const audio = spawn(python, [audioScript], {
+            stdio: 'ignore', detached: true, env: { ...process.env, ROBOPARK_AUDIO_SERVER: '1' },
+        });
+        audio.unref();
+    }
+    const proc = spawn(python, args, {
+        stdio: 'ignore',
+        detached: true,
+        env: { ...process.env, ROBOPARK_VISION_AGENT: '1' },
+    });
+    proc.unref();
+    console.log(chalk.green('  ✓ vision agent started in background'));
+}

package/dist/robopark/vision-control.js

@@ -0,0 +1,81 @@
+import { spawnSync } from 'node:child_process';
+import chalk from 'chalk';
+import { unregisterAutoStart } from './auto-start.js';
+import { resolveContext } from './profile.js';
+import { roboparkSetup } from './setup.js';
+function runtimeUnit(name) {
+    return `robopark-robot-runtime-${name.toLowerCase().replace(/[^a-z0-9]+/g, '-')}.service`;
+}
+export async function roboparkVisionUp(config, name, opts) {
+    if (opts.lan && opts.tailscale)
+        throw new Error('choose exactly one of --lan or --tailscale');
+    const context = await resolveContext({ hubUrl: opts.hubUrl, token: opts.token });
+    if (!context.hubUrl) {
+        throw new Error('no hub resolved; run `robopark hub-use --hub-url http://HUB_IP:47913 --token TOKEN` once');
+    }
+    if (!context.token) {
+        throw new Error('no mesh token resolved; run `robopark hub-use --hub-url http://HUB_IP:47913 --token TOKEN` once');
+    }
+    console.log(chalk.bold('\n  robopark vision up'));
+    console.log(chalk.dim('  ' + '-'.repeat(52)));
+    console.log(`  robot:  ${chalk.cyan(name)}`);
+    console.log(`  camera: ${chalk.cyan(opts.videoDevice ?? 'auto')}`);
+    console.log(`  relay:  ${chalk.green('always on, independent of voice calls')}`);
+    console.log();
+    await roboparkSetup(config, {
+        role: 'robot',
+        name,
+        site: context.site,
+        hub: context.hubUrl,
+        token: context.token,
+        port: opts.port ?? '47913',
+        character: opts.character,
+        videoDevice: opts.videoDevice ?? 'auto',
+        // A vision-only registration must never reserve the production microphone.
+        audioDevice: 'none',
+        lan: opts.tailscale ? false : true,
+        tailscale: Boolean(opts.tailscale),
+        start: true,
+        autoStart: opts.autoStart !== false,
+        yes: true,
+    });
+    console.log(chalk.dim(`  dashboard relay: /fed/media/robots/${encodeURIComponent(name)}/video_feed`));
+}
+export function roboparkVisionDown(name) {
+    const result = unregisterAutoStart('robot-runtime', name);
+    if (!result.ok)
+        throw new Error(result.message);
+    console.log(chalk.green(`  ${result.message}`));
+}
+export function roboparkVisionRestart(name) {
+    if (process.platform !== 'linux') {
+        throw new Error('vision restart currently requires systemd; rerun `robopark vision up NAME` on this platform');
+    }
+    const unit = runtimeUnit(name);
+    const result = spawnSync('systemctl', ['restart', unit], { encoding: 'utf8' });
+    if (result.status !== 0)
+        throw new Error(String(result.stderr || result.stdout || `could not restart ${unit}`).trim());
+    console.log(chalk.green(`  restarted ${unit}`));
+}
+export async function roboparkVisionStatus(name) {
+    const unit = runtimeUnit(name);
+    const service = process.platform === 'linux'
+        ? spawnSync('systemctl', ['is-active', unit], { encoding: 'utf8' }).stdout.trim()
+        : 'unknown';
+    let camera = 'unreachable';
+    try {
+        const response = await fetch('http://127.0.0.1:5000/api/camera/status', {
+            signal: AbortSignal.timeout(3_000),
+        });
+        camera = response.ok ? 'ready' : `HTTP ${response.status}`;
+    }
+    catch {
+        // Printed as unreachable below.
+    }
+    console.log(chalk.bold(`\n  ${name} vision`));
+    console.log(`  service: ${service === 'active' ? chalk.green(service) : chalk.yellow(service)}`);
+    console.log(`  camera:  ${camera === 'ready' ? chalk.green(camera) : chalk.yellow(camera)}`);
+    console.log(`  local:   http://127.0.0.1:5000/video_feed`);
+    if (service !== 'active' || camera !== 'ready')
+        process.exitCode = 1;
+}

package/dist/robopark/voice-join-html.js

@@ -0,0 +1,57 @@
+/** Public, character-specific ElevenLabs conversation surface. */
+export const ROBOPARK_VOICE_JOIN_HTML = `<!doctype html>
+<html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1">
+<meta name="theme-color" content="#080704"><meta name="robopark-voice-join-build" content="voice-join-supervisor-20260723-6">
+<title>RoboPark Character Conversation</title>
+<style>
+.deployment{display:grid;gap:8px;margin:14px 0}.deployment-row{display:grid;grid-template-columns:minmax(150px,1fr) 2fr auto;gap:9px;align-items:center;padding:.7rem;border:1px solid var(--line);border-radius:12px;background:rgba(255,255,255,.025)}.deployment-row b{font:.62rem var(--mono);color:var(--pale)}.deployment-row span{font:.54rem var(--mono);color:var(--muted)}.deployment-row .ready{color:var(--ok)}.deployment-actions{display:flex;flex-wrap:wrap;gap:5px}.deployment-actions button{border:1px solid var(--line);border-radius:8px;background:rgba(244,207,114,.09);color:var(--gold);padding:.38rem .5rem;font:.5rem var(--mono);cursor:pointer}
+.audio-controls{position:relative;width:min(390px,92%);margin-top:12px;border:1px solid var(--line);border-radius:14px;background:rgba(0,0,0,.3);text-align:left}.audio-controls summary{padding:.65rem .8rem;cursor:pointer;color:var(--gold);font:600 .58rem var(--mono);letter-spacing:.07em;text-transform:uppercase}.audio-controls summary::marker{color:var(--gold)}.audio-panel{display:grid;gap:.75rem;padding:0 .85rem .85rem}.audio-row{display:grid;grid-template-columns:105px 1fr 45px;gap:.55rem;align-items:center}.audio-row label,.audio-value{font:600 .54rem var(--mono);color:var(--muted)}.audio-value{text-align:right;color:var(--pale)}.audio-row input[type=range]{width:100%;accent-color:var(--gold)}.audio-note{margin:0;color:#7e755f;font:.5rem/1.45 var(--mono)}
+:root{--bg:#080704;--panel:rgba(20,17,11,.88);--line:rgba(247,211,116,.22);--gold:#f4cf72;--pale:#fff0bd;--ink:#f7f1df;--muted:#a99e84;--ok:#64dfa0;--warn:#f0bd55;--bad:#ff776c;--mono:"JetBrains Mono","Cascadia Code",monospace;--display:Georgia,"Times New Roman",serif}*{box-sizing:border-box}html,body{margin:0;min-height:100%;background:radial-gradient(circle at 50% 8%,#332510 0,#100d08 35%,#050403 78%);color:var(--ink);font-family:Verdana,Geneva,sans-serif}body:before{content:"";position:fixed;inset:0;pointer-events:none;background:linear-gradient(115deg,transparent 0 48%,rgba(244,207,114,.025) 49% 50%,transparent 51%),repeating-linear-gradient(0deg,transparent 0 34px,rgba(255,255,255,.012) 35px)}button,input{font:inherit}.shell{width:min(1120px,100%);min-height:100vh;margin:auto;padding:clamp(14px,3vw,34px);display:grid;grid-template-rows:auto 1fr auto;gap:18px}.top{display:flex;align-items:center;justify-content:space-between;gap:16px}.brand{font:700 .65rem var(--mono);letter-spacing:.18em;text-transform:uppercase;color:var(--gold)}.ops-toggle{border:1px solid var(--line);border-radius:999px;background:rgba(0,0,0,.35);color:var(--muted);padding:.55rem .8rem;cursor:pointer}.ops-toggle.on{color:var(--pale);border-color:var(--gold)}.stage{position:relative;min-height:620px;display:grid;grid-template-columns:minmax(0,1.3fr) minmax(280px,.7fr);overflow:hidden;border:1px solid var(--line);border-radius:28px;background:linear-gradient(145deg,rgba(34,27,14,.82),rgba(8,7,5,.92));box-shadow:0 28px 90px rgba(0,0,0,.45)}.hero{position:relative;display:flex;flex-direction:column;align-items:center;justify-content:center;padding:34px;text-align:center;overflow:hidden}.hero:before{content:"";position:absolute;width:500px;height:500px;border:1px solid rgba(244,207,114,.1);border-radius:50%;box-shadow:0 0 0 55px rgba(244,207,114,.018),0 0 0 120px rgba(244,207,114,.012)}.avatar-wrap{position:relative;width:min(330px,72vw);aspect-ratio:1;display:grid;place-items:center;border:1px solid rgba(244,207,114,.3);border-radius:50%;background:radial-gradient(circle,rgba(244,207,114,.16),rgba(8,7,5,.62) 58%,#050403 74%);box-shadow:0 0 90px rgba(214,164,55,.16)}.avatar-wrap.live{animation:breathe 2.2s ease-in-out infinite}.avatar-wrap.speaking{box-shadow:0 0 110px rgba(244,207,114,.42);border-color:var(--pale)}@keyframes breathe{50%{transform:scale(1.018)}}.avatar{position:relative;z-index:2;width:78%;height:78%;object-fit:contain;filter:drop-shadow(0 20px 28px rgba(0,0,0,.58))}.fallback{position:absolute;font:700 4rem var(--display);color:var(--gold)}h1{position:relative;margin:22px 0 5px;font:700 clamp(2rem,5vw,3.5rem) var(--display);color:var(--pale)}.subtitle{position:relative;color:var(--muted);font-size:.8rem}.state{position:relative;margin-top:14px;font:600 .68rem var(--mono);letter-spacing:.08em;text-transform:uppercase;color:var(--gold)}.join{position:relative;margin-top:22px;min-width:210px;border:1px solid var(--gold);border-radius:999px;padding:.9rem 1.25rem;background:linear-gradient(135deg,#f5d77f,#b87b1d);color:#171005;font-weight:800;cursor:pointer;box-shadow:0 12px 30px rgba(184,123,29,.24)}.join:disabled{opacity:.48;cursor:not-allowed}.end{position:relative;margin-top:10px;border:0;background:transparent;color:var(--muted);cursor:pointer}.side{position:relative;border-left:1px solid var(--line);padding:25px;display:flex;flex-direction:column;gap:14px;background:rgba(0,0,0,.2)}.vision{position:relative;aspect-ratio:16/10;border:1px solid var(--line);border-radius:17px;overflow:hidden;background:#050403}.vision img{width:100%;height:100%;object-fit:cover}.vision .label{position:absolute;left:9px;top:9px;padding:.32rem .45rem;border-radius:7px;background:rgba(0,0,0,.7);font:600 .5rem 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1fr}.top{padding:4px}.event{grid-template-columns:75px 55px 1fr}}
+</style></head><body><main class="shell"><header class="top"><div class="brand">RoboPark / managed character channel</div><div><button class="ops-toggle on" id="always-on" aria-pressed="true">Always on: ON</button> <button class="ops-toggle" id="ops-toggle">Operations</button></div></header><section class="stage"><div class="hero"><div class="avatar-wrap" id="avatar-wrap"><div class="fallback" id="fallback">RP</div><img class="avatar" id="avatar" alt=""></div><h1 id="character-name">Loading character...</h1><div class="subtitle" id="subtitle">Secure ElevenLabs conversation managed by RoboPark</div><div class="state" id="state">validating link</div><button class="join" id="join" disabled>Join conversation</button><button class="end" id="end" hidden>End conversation</button><div class="error-box" id="error"></div></div><aside class="side"><div class="vision" id="vision" hidden><img id="robot-video" alt="Live robot camera"><span class="label">LIVE ROBOT VISION</span></div><div class="transcript" id="transcript"><div class="turn assistant">The transcript will appear here when the conversation begins.</div></div><form class="compose" id="compose"><input id="message" placeholder="Type a message" disabled><button id="send" disabled>Send</button></form></aside><section class="ops" id="ops"><div class="ops-head"><h2>Live management overlay</h2><button class="close" id="ops-close">Close</button></div><div class="facts"><div class="fact"><span>Session</span><b id="f-session">not started</b></div><div class="fact"><span>Character</span><b id="f-character">--</b></div><div class="fact"><span>Agent</span><b id="f-agent">--</b></div><div class="fact"><span>Branch</span><b id="f-branch">default</b></div><div class="fact"><span>Robot</span><b id="f-robot">operator only</b></div><div class="fact"><span>Share link</span><b id="f-share">--</b></div></div><div class="pipeline" id="pipeline"><div class="step live" data-stage="configured">configured</div><div class="step" data-stage="permission">permission</div><div class="step" data-stage="signed_session">signed</div><div class="step" data-stage="connected">connected</div><div class="step" data-stage="conversation">conversation</div></div><div class="events" id="events"><div class="event"><span>waiting</span><span>info</span><span>Session telemetry will stream here.</span></div></div></section></section><footer class="foot">No API credentials are stored in this link. Each visit creates an isolated signed session.</footer></main><script src="/vendor/elevenlabs-client.iife.js"></script><script>
+(function(){
+  var deployment=document.createElement('div');deployment.id='deployment';deployment.className='deployment';deployment.innerHTML='<div class="deployment-row"><b>Character hardware</b><span>Loading registered voice, vision, and motor nodes...</span><span></span></div>';document.getElementById('pipeline').before(deployment);
+  var audioControls=document.createElement('details');audioControls.id='audio-controls';audioControls.className='audio-controls';audioControls.innerHTML='<summary>Audio levels</summary><div class="audio-panel"><div class="audio-row"><label for="speaker-volume">Speaker</label><input id="speaker-volume" type="range" min="0" max="100" step="1"><output class="audio-value" id="speaker-value"></output></div><div class="audio-row"><label for="mic-sensitivity">Mic sensitivity</label><input id="mic-sensitivity" type="range" min="25" max="200" step="5"><output class="audio-value" id="mic-value"></output></div><p class="audio-note">Changes apply immediately and stay on this browser. High microphone gain may increase background noise.</p></div>';document.getElementById('error').after(audioControls);
+  var q=new URLSearchParams(location.search),character=q.get('character')||'',agent=q.get('agent_id')||'',branch=q.get('branch_id')||'',mode=q.get('mode')==='production'?'production':'test',robot=mode==='production'?(q.get('robot')||''):'',stack=q.get('stack')||'',share=q.get('share_id')||'',session=null,eventToken=null,conversation=null,conversationId=null,keepalive=null,poller=null,retryTimer=null,ending=false,desired=false,alwaysOn=true,connecting=false,generation=0,retryAttempt=0,lastProviderError=null,history=[],seen={},micPipelines=[],speakerVolume=storedNumber('robopark.voice.speaker',100,0,100),micSensitivity=storedNumber('robopark.voice.micSensitivity',100,25,200);
+  function storedNumber(key,fallback,min,max){try{var raw=localStorage.getItem(key);if(raw===null)return fallback;var value=Number(raw);return Number.isFinite(value)?Math.max(min,Math.min(max,value)):fallback}catch(_){return fallback}}
+  function persistNumber(key,value){try{localStorage.setItem(key,String(value))}catch(_){}}
+  function applySpeakerVolume(){if(conversation&&typeof conversation.setVolume==='function')try{conversation.setVolume({volume:speakerVolume/100})}catch(_){}}
+  function setMicSensitivity(value){micSensitivity=Math.max(25,Math.min(200,Number(value)||100));micPipelines.slice().forEach(function(pipe){try{pipe.gain.gain.setTargetAtTime(micSensitivity/100,pipe.context.currentTime,.015)}catch(_){}})}
+  function processMicrophone(stream){if(!stream||!stream.getAudioTracks||!stream.getAudioTracks().length)return stream;var AudioCtor=window.AudioContext||window.webkitAudioContext;if(!AudioCtor)return stream;try{var context=new AudioCtor(),source=context.createMediaStreamSource(stream),gain=context.createGain(),destination=context.createMediaStreamDestination(),pipe={context:context,source:source,gain:gain,destination:destination};gain.gain.value=micSensitivity/100;source.connect(gain);gain.connect(destination);micPipelines.push(pipe);if(context.state==='suspended')context.resume().catch(function(){});var outputTrack=destination.stream.getAudioTracks()[0],nativeStop=outputTrack.stop.bind(outputTrack),closed=false;outputTrack.stop=function(){if(closed)return;closed=true;nativeStop();stream.getTracks().forEach(function(track){try{track.stop()}catch(_){}});try{source.disconnect();gain.disconnect()}catch(_){};micPipelines=micPipelines.filter(function(item){return item!==pipe});context.close().catch(function(){})};stream.getAudioTracks().forEach(function(track){track.addEventListener('ended',function(){try{outputTrack.stop()}catch(_){}})});return new MediaStream(stream.getVideoTracks().concat([outputTrack]))}catch(_){return stream}}
+  function createSilentTestMicrophone(){var AudioCtor=window.AudioContext||window.webkitAudioContext;if(!AudioCtor)throw new Error('This browser has no usable microphone or Web Audio support.');var context=new AudioCtor(),oscillator=context.createOscillator(),gain=context.createGain(),destination=context.createMediaStreamDestination();gain.gain.value=0;oscillator.connect(gain);gain.connect(destination);oscillator.start();var track=destination.stream.getAudioTracks()[0],nativeStop=track.stop.bind(track),closed=false;track.stop=function(){if(closed)return;closed=true;try{oscillator.stop()}catch(_){}nativeStop();context.close().catch(function(){})};var subtitle=document.getElementById('subtitle');if(subtitle)subtitle.textContent='No local microphone attached · agent audio and typed test enabled';return new MediaStream([track])}
+  function installMicrophoneRecovery(){
+    var media=navigator.mediaDevices;if(!media||!media.getUserMedia||media.__roboparkRecovered)return;var nativeGetUserMedia=media.getUserMedia.bind(media);media.__roboparkRecovered=true;
+    media.getUserMedia=function(constraints){return nativeGetUserMedia(constraints).catch(function(error){var audio=constraints&&constraints.audio,recoverable=error&&['NotFoundError','DevicesNotFoundError','OverconstrainedError'].includes(error.name);if(!audio||!recoverable)throw error;var fallback=audio===true?{echoCancellation:true,noiseSuppression:true,autoGainControl:true}:Object.assign({},audio);delete fallback.deviceId;delete fallback.groupId;delete fallback.sampleRate;delete fallback.voiceIsolation;return media.enumerateDevices().then(function(devices){var inputs=devices.filter(function(device){return device.kind==='audioinput'&&device.deviceId}),input=inputs.find(function(device){return device.deviceId!=='default'&&device.deviceId!=='communications'})||inputs[0];if(!input){if(mode==='test')return createSilentTestMicrophone();throw new Error('No browser microphone is currently attached. Connect or enable a microphone, then retry.')}fallback.deviceId={exact:input.deviceId};return nativeGetUserMedia({audio:fallback})}).catch(function(secondError){if(secondError&&String(secondError.message||'').indexOf('No browser microphone')===0)throw secondError;if(mode==='test'&&secondError&&['NotFoundError','DevicesNotFoundError','OverconstrainedError'].includes(secondError.name))return createSilentTestMicrophone();delete fallback.deviceId;return nativeGetUserMedia({audio:fallback})})}).then(function(stream){return constraints&&constraints.audio?processMicrophone(stream):stream})};
+  }
+  installMicrophoneRecovery();
+  function ensureElevenLabsClient(){if(window.ElevenLabsClient&&window.ElevenLabsClient.Conversation)return Promise.resolve(window.ElevenLabsClient);return new Promise(function(resolve,reject){var script=document.createElement('script');script.src='/vendor/elevenlabs-client.iife.js';script.onload=function(){if(window.ElevenLabsClient&&window.ElevenLabsClient.Conversation)resolve(window.ElevenLabsClient);else reject(new Error('ElevenLabs browser SDK loaded without a Conversation client.'))};script.onerror=function(){reject(new Error('ElevenLabs browser SDK is unavailable. Check the RoboPark control service build.'))};document.head.appendChild(script)})}
+  function el(id){return document.getElementById(id)}function text(id,value){var node=el(id);if(node)node.textContent=value==null?'--':String(value)}function fail(message){text('state','unable to connect');el('error').style.display='block';text('error',message);el('join').disabled=false;stage('configured','bad')}
+  function stage(name,status){var order=['configured','permission','signed_session','connected','conversation'],index=order.indexOf(name);document.querySelectorAll('.step').forEach(function(node,i){node.className='step '+(status==='bad'&&i===index?'bad':i<index?'done':i===index?'live':'')})}
+  function headers(){return {'content-type':'application/json','X-RoboPark-Session-Token':eventToken||''}}
+  function api(path,options){options=options||{};if(path==='/api/sessions/voice-call'&&options.body){var payload=JSON.parse(options.body);payload.call_mode=mode;payload.robot_id=mode==='production'?(robot||null):null;options.body=JSON.stringify(payload)}return fetch('/robopark'+path,Object.assign({cache:'no-store'},options)).then(function(response){if(!response.ok)return response.text().then(function(body){throw new Error(body||('request '+response.status))});return response.json()})}
+  function append(role,message){message=String(message||'').trim();if(!message)return;var key=role+'|'+message;if(seen[key])return;seen[key]=1;var node=document.createElement('div');node.className='turn '+role;node.textContent=message;el('transcript').appendChild(node);el('transcript').scrollTop=el('transcript').scrollHeight}
+  function management(path,body){if(!session||!eventToken)return Promise.resolve();return api('/api/sessions/'+encodeURIComponent(session)+path,{method:'POST',headers:headers(),body:JSON.stringify(body||{})}).catch(function(){})}
+  function event(stageName,status,message,details){var canonical={signed_session:'scheduler_session',provider_connected:'voice_worker',provider_error:'voice_worker',mode:String(message||'')==='speaking'?'playback_started':'stt_listening',interruption:'stt_listening',mcp_tool:'llm_response'}[stageName]||stageName;return management('/pipeline-events',{stage:canonical,status:status||'ok',message:message||'',details:details||{},source:'public_join'})}
+  function saveTurn(role,message){message=String(message||'').trim();if(!message)return Promise.resolve();return management('/transcript',{role:role,text:message,is_final:true,sequence:Object.keys(seen).length,source:'public_join'})}
+  function renderDetail(detail){var events=(detail&&detail.pipeline_events)||[],latest=events.length?events[events.length-1]:null;if(latest&&latest.status==='failed')stage('conversation','bad');el('events').innerHTML=events.slice(-9).reverse().map(function(item){return '<div class="event"><span>'+String(item.stage||'event').replace(/[<>]/g,'')+'</span><span class="'+String(item.status||'')+'">'+String(item.status||'')+'</span><span>'+String(item.message||'').replace(/[<>]/g,'')+'</span></div>'}).join('')||'<div class="event"><span>connected</span><span class="ok">ok</span><span>Waiting for conversation events.</span></div>'}
+  function pollDetail(){applySpeakerVolume();if(!session)return;api('/api/sessions/'+encodeURIComponent(session)+'/detail',{headers:headers()}).then(renderDetail).catch(function(){})}
+  function plainDetails(value){try{return JSON.parse(JSON.stringify(value||{}))}catch(_){return {raw:String(value||'')}}}
+  function closeManaged(reason,details){var oldSession=session,oldToken=eventToken;if(!oldSession||!oldToken)return Promise.resolve();return api('/api/sessions/'+encodeURIComponent(oldSession)+'/pipeline-events',{method:'POST',headers:{'content-type':'application/json','X-RoboPark-Session-Token':oldToken},body:JSON.stringify({stage:'voice_worker',status:reason==='visitor'?'ok':'warning',message:reason==='visitor'?'Operator ended voice conversation':'Provider session closed; supervisor will replace it',details:plainDetails(details),source:'public_join'})}).catch(function(){}).then(function(){return api('/api/sessions/'+encodeURIComponent(oldSession)+'/end?reason='+encodeURIComponent(reason),{method:'POST',headers:{'content-type':'application/json','X-RoboPark-Session-Token':oldToken}}).catch(function(){})})}
+  function stopTimers(){if(retryTimer){clearTimeout(retryTimer);retryTimer=null}if(keepalive){clearInterval(keepalive);keepalive=null}if(poller){clearInterval(poller);poller=null}}
+  function scheduleReconnect(){if(!desired||!alwaysOn||ending)return;connecting=false;conversation=null;conversationId=null;var attempt=++retryAttempt,delay=Math.min(30000,Math.round(750*Math.pow(2,Math.min(attempt-1,6))+Math.random()*500));text('state','reconnecting in '+Math.ceil(delay/1000)+'s');stage('connected');el('avatar-wrap').classList.remove('speaking');if(retryTimer)clearTimeout(retryTimer);retryTimer=setTimeout(function(){retryTimer=null;connectAttempt('reconnect')},delay)}
+  function recover(myGeneration,details){if(myGeneration!==generation||ending||!desired)return;var captured=plainDetails(details);captured.last_provider_error=lastProviderError;event('provider_error','failed','ElevenLabs disconnected; recovery scheduled',captured);closeManaged('provider_disconnected',captured);session=null;eventToken=null;conversation=null;conversationId=null;scheduleReconnect()}
+  function end(reason){if(ending)return;ending=true;desired=false;generation++;stopTimers();var active=conversation,details={manual:true,reason:reason||'visitor'};if(active)try{active.endSession()}catch(_){};closeManaged(reason||'visitor',details);session=null;eventToken=null;conversation=null;conversationId=null;connecting=false;retryAttempt=0;stage('conversation','done');text('state','manually disconnected - supervisor stopped');el('avatar-wrap').classList.remove('live','speaking');el('join').hidden=false;el('join').disabled=false;el('join').textContent='Start conversation';el('end').hidden=true;el('message').disabled=true;el('send').disabled=true;ending=false}
+  function callPayload(){return {character_preset_id:character,voice_stack_id:stack||null,client_name:'Public character link',engine:'elevenlabs',agent_id:agent,branch_id:branch||null,robot_id:robot||null,join_link_id:share||null}}
+  function connectAttempt(kind){if(!desired||ending||connecting||conversation)return;connecting=true;var myGeneration=++generation;text('state',kind==='reconnect'?'obtaining fresh voice session':'connecting');stage('signed_session');api('/api/sessions/voice-call',{method:'POST',headers:{'content-type':'application/json'},body:JSON.stringify(callPayload())}).then(function(call){if(myGeneration!==generation||!desired)throw new Error('connection superseded');session=call.session_id;eventToken=call.event_token;text('f-session',session);text('f-agent',call.agent_id);text('f-branch',call.branch_id||'default');text('f-robot',call.robot_id||'operator only');if(call.robot_video_ref&&robot){el('vision').hidden=false;el('robot-video').src='/fed/media/robots/'+encodeURIComponent(call.robot_video_ref)+'/video_feed'}stage('connected');event('signed_session','ok','Fresh signed ElevenLabs session created',{join_link_id:share,robot_id:robot,reconnect_attempt:retryAttempt});return ensureElevenLabsClient().then(function(SDK){return SDK.Conversation.startSession({signedUrl:call.signed_url,connectionType:'websocket',useWakeLock:true,onConnect:function(info){if(myGeneration!==generation)return;conversationId=info.conversationId;lastProviderError=null;retryAttempt=0;text('state','listening');el('error').style.display='none';el('avatar-wrap').classList.add('live');stage('conversation');management('/engine-connected',{conversation_id:conversationId,connection_type:'websocket',metadata:{join_link_id:share,public_join:true,supervised:true}});event('provider_connected','ok','ElevenLabs conversation connected',{conversation_id:conversationId,supervised:true})},onDisconnect:function(info){recover(myGeneration,info||{reason:'provider_disconnected'})},onError:function(message,context){if(myGeneration!==generation)return;lastProviderError={message:String(message||'Provider error'),context:plainDetails(context)};event('provider_error','failed',lastProviderError.message,lastProviderError);text('state','provider error - recovering')},onStatusChange:function(info){if(myGeneration===generation)event('provider_status',info&&info.status==='disconnected'?'warning':'ok',info&&info.status||'unknown',{})},onMessage:function(info){if(myGeneration!==generation)return;var message=String(info&&info.message||'').trim(),role=info&&info.role==='user'?'user':'assistant';append(role,message);if(message){history.push({role:role,text:message});history=history.slice(-20)}saveTurn(role,message)},onModeChange:function(info){if(myGeneration!==generation)return;var speaking=info.mode==='speaking';el('avatar-wrap').classList.toggle('speaking',speaking);text('state',speaking?'speaking':'listening');event('mode','ok',info.mode,{})},onInterruption:function(info){event('interruption','ok','Agent interrupted',info||{})},onMCPToolCall:function(info){event('mcp_tool','running','Tool call',info||{})}})})}).then(function(active){connecting=false;if(myGeneration!==generation||!desired){try{active.endSession()}catch(_){}return}conversation=active;if(kind==='reconnect'&&history.length&&conversation.sendContextualUpdate)conversation.sendContextualUpdate('RoboPark continuity context from the session that just reconnected:\\n'+history.map(function(turn){return turn.role+': '+turn.text}).join('\\n'));el('join').hidden=true;el('end').hidden=false;el('message').disabled=false;el('send').disabled=false;if(!keepalive)keepalive=setInterval(function(){management('/keepalive',{engine:'elevenlabs',conversation_id:conversationId,robot_id:robot,supervised:true})},10000);if(!poller)poller=setInterval(pollDetail,2000);pollDetail()}).catch(function(error){connecting=false;if(myGeneration!==generation||!desired)return;var details={message:error&&error.message||String(error),last_provider_error:lastProviderError};event('provider_error','failed','Voice connection attempt failed',details);closeManaged('connection_failed',details);session=null;eventToken=null;conversation=null;conversationId=null;if(alwaysOn)scheduleReconnect();else fail(details.message)})}
+  function start(){if(desired||conversation||connecting)return;desired=true;retryAttempt=0;el('join').disabled=true;text('state','requesting microphone permission');stage('permission');navigator.mediaDevices.getUserMedia({audio:true}).then(function(stream){stream.getTracks().forEach(function(track){track.stop()});connectAttempt('initial')}).catch(function(error){desired=false;fail(error&&error.message||String(error))})}
+  el('always-on').onclick=function(){alwaysOn=!alwaysOn;this.classList.toggle('on',alwaysOn);this.setAttribute('aria-pressed',String(alwaysOn));this.textContent='Always on: '+(alwaysOn?'ON':'OFF');if(!alwaysOn&&retryTimer){clearTimeout(retryTimer);retryTimer=null;text('state','disconnected - automatic recovery paused')}else if(alwaysOn&&desired&&!conversation&&!connecting){scheduleReconnect()}};
+  function pollDetail(){applySpeakerVolume();if(!session)return;api('/api/sessions/'+encodeURIComponent(session)+'/detail').then(renderDetail).catch(function(){})}
+  function deploymentRequest(path,options){var token=q.get('token')||'',suffix=token?(path.indexOf('?')>=0?'&':'?')+'token='+encodeURIComponent(token):'';return fetch('/robopark'+path+suffix,Object.assign({cache:'no-store'},options||{})).then(function(response){if(!response.ok)throw new Error('request '+response.status);return response.json()})}
+  function renderDeployment(data){var token=q.get('token')||'',rows=[];[['voice_vision_boxes','Windows voice + vision',['vision','conversation']],['motor_nodes','Pi motor server',['motor']]].forEach(function(group){var devices=data[group[0]]||[];if(!devices.length){rows.push('<div class="deployment-row"><b>'+group[1]+'</b><span>not registered</span><span></span></div>');return}devices.forEach(function(device){var seen=Date.parse(device.last_heartbeat||''),live=isFinite(seen)&&Date.now()-seen<90000,buttons=token?group[2].map(function(service){return '<button data-device="'+device.id+'" data-service="'+service+'" data-action="start">Start '+service+'</button><button data-device="'+device.id+'" data-service="'+service+'" data-action="restart">Restart</button><button data-device="'+device.id+'" data-service="'+service+'" data-action="stop">Stop</button>'}).join(''):'management token required for controls';rows.push('<div class="deployment-row"><b>'+group[1]+'</b><span class="'+(live?'ready':'')+'">'+String(device.name||device.id)+' / '+(live?'online':'stale')+'</span><div class="deployment-actions">'+buttons+'</div></div>')})});deployment.innerHTML=rows.join('');deployment.querySelectorAll('button[data-action]').forEach(function(button){button.onclick=function(){var action=button.getAttribute('data-action'),service=button.getAttribute('data-service'),device=button.getAttribute('data-device');if((action==='stop'||action==='restart')&&!confirm(action+' '+service+'?'))return;button.disabled=true;deploymentRequest('/api/devices/'+encodeURIComponent(device)+'/services/'+encodeURIComponent(service)+'/'+action,{method:'POST',headers:{'content-type':'application/json'}}).then(function(){button.textContent='queued'}).catch(function(error){button.textContent='failed';fail(error.message)}).then(function(){setTimeout(function(){button.disabled=false},1800)})}})}
+  function loadDeployment(){deploymentRequest('/api/characters/'+encodeURIComponent(character)+'/deployment').then(renderDeployment).catch(function(){deployment.innerHTML='<div class="deployment-row"><b>Character hardware</b><span>deployment status unavailable</span><span></span></div>'})}
+  el('speaker-volume').value=String(speakerVolume);text('speaker-value',speakerVolume+'%');el('mic-sensitivity').value=String(micSensitivity);text('mic-value',micSensitivity+'%');el('speaker-volume').oninput=function(){speakerVolume=Math.max(0,Math.min(100,Number(this.value)||0));text('speaker-value',speakerVolume+'%');persistNumber('robopark.voice.speaker',speakerVolume);applySpeakerVolume()};el('mic-sensitivity').oninput=function(){setMicSensitivity(this.value);text('mic-value',micSensitivity+'%');persistNumber('robopark.voice.micSensitivity',micSensitivity)};
+  el('ops-toggle').onclick=function(){el('ops').classList.toggle('open');this.classList.toggle('on',el('ops').classList.contains('open'))};el('ops-close').onclick=function(){el('ops').classList.remove('open');el('ops-toggle').classList.remove('on')};el('join').onclick=start;el('end').onclick=function(){end('visitor')};el('compose').onsubmit=function(e){e.preventDefault();var message=el('message').value.trim();if(message&&conversation){conversation.sendUserMessage(message);el('message').value=''}};
+  text('f-mode',mode);text('f-character',character);text('f-agent',agent);text('f-branch',branch||'default');text('f-robot',mode==='production'?(robot||'missing robot'):'not requested');text('f-share',share||'untracked');
+  if(character)loadDeployment();
+  if(!character||!agent){fail('This join link is incomplete. Ask the operator for a new character link.');return}if(mode==='production'&&!robot){fail('This production link has no registered robot. Ask the operator for a corrected link.');return}api('/api/character-presets/'+encodeURIComponent(character)).then(function(preset){text('character-name',preset.name||preset.id);text('subtitle',(mode==='test'?'Browser-only test call · ':'Production on-site call · ')+(preset.description||'Secure ElevenLabs conversation managed by RoboPark'));text('f-character',preset.name||preset.id);text('fallback',String(preset.name||preset.id).slice(0,2).toUpperCase());if(preset.img){el('avatar').src=preset.img;el('avatar').onload=function(){el('fallback').style.display='none'}};text('state','ready to connect');el('join').disabled=false}).catch(function(){fail('Character configuration is unavailable.')});
+})();
+</script></body></html>`;