npm - robopark - Versions diffs - 2.8.9 → 2.8.11 - Mend

robopark 2.8.9 → 2.8.11

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Files changed (5) hide show

package/package.json +1 -1
package/scheduler/Dockerfile +6 -1
package/scheduler/main.py +155 -1
package/scheduler/preview_agent.py +8 -2
package/scheduler/requirements-robot.txt +9 -0

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "robopark",
-  "version": "2.8.9",
+  "version": "2.8.11",
   "description": "RoboPark fleet control CLI — set up, watch, and drive a fleet of talking robots. The operator front-end over the infinicode mesh.",
   "type": "module",
   "bin": {

package/scheduler/Dockerfile CHANGED Viewed

@@ -3,7 +3,12 @@ FROM python:3.11-slim
 WORKDIR /app
-# Install dependencies
+# Install build dependencies for pyaudio / opencv wheels, then Python packages.
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    gcc g++ libportaudio2 portaudio19-dev \
+    libgl1 libglib2.0-0 libsm6 libxext6 libxrender-dev \
+    && rm -rf /var/lib/apt/lists/*
 COPY requirements.txt .
 RUN pip install --no-cache-dir -r requirements.txt

package/scheduler/main.py CHANGED Viewed

@@ -2542,7 +2542,7 @@ async def dashboard():
                         <header class="mb-8 flex justify-between items-center">
                             <div>
                                 <h1 class="text-3xl font-bold">🤖 RoboPark Control Center</h1>
-                                <p class="text-gray-400">Session Scheduler Dashboard</p>
+                                <p class="text-gray-400">Session Scheduler Dashboard — Shenzhen Bay Park (test site)</p>
                             </div>
                             <div class="flex items-center gap-4">
                                 <button @click="openLiveKitConfig"
@@ -2902,6 +2902,160 @@ async def dashboard():
     </html>
     """
+# ── Test robot client page (browser-based, zero install on robot laptop) ──
+@app.get("/robot", response_class=HTMLResponse)
+async def robot_client_page():
+    """Browser-based robot client for LAN testing.
+    Opens the laptop's webcam + mic, enrolls with the scheduler, and joins the
+    LiveKit room returned by /request-session. Useful for iterating on scene
+    detection, session triggering, and dashboard streaming before deploying to
+    real Pis.
+    """
+    return """
+<!DOCTYPE html>
+<html>
+<head>
+    <title>RoboPark Test Robot</title>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <script src="https://cdn.tailwindcss.com"></script>
+    <script src="https://cdn.jsdelivr.net/npm/livekit-client@1/dist/livekit-client.umd.min.js"></script>
+</head>
+<body class="bg-gray-900 text-white min-h-screen p-6">
+    <div class="max-w-xl mx-auto space-y-4">
+        <h1 class="text-2xl font-bold">RoboPark Test Robot</h1>
+        <div id="status" class="text-sm text-gray-400">Idle — configure and start</div>
+        <div class="space-y-2">
+            <label class="block text-sm">Scheduler URL</label>
+            <input id="schedulerUrl" value="http://192.168.1.2:8080" class="w-full p-2 rounded bg-gray-800 border border-gray-700">
+        </div>
+        <div class="space-y-2">
+            <label class="block text-sm">Enrollment Token</label>
+            <input id="enrollmentToken" value="" placeholder="Paste token here" class="w-full p-2 rounded bg-gray-800 border border-gray-700">
+        </div>
+        <div class="space-y-2">
+            <label class="block text-sm">Robot Name</label>
+            <input id="robotName" value="laptop-robot" class="w-full p-2 rounded bg-gray-800 border border-gray-700">
+        </div>
+        <div class="flex gap-2">
+            <button id="enrollBtn" class="px-4 py-2 bg-blue-600 rounded hover:bg-blue-500">1. Enroll</button>
+            <button id="startBtn" class="px-4 py-2 bg-green-600 rounded hover:bg-green-500" disabled>2. Start Camera + Trigger</button>
+            <button id="triggerBtn" class="px-4 py-2 bg-yellow-600 rounded hover:bg-yellow-500" disabled>Trigger Session</button>
+            <button id="stopBtn" class="px-4 py-2 bg-red-600 rounded hover:bg-red-500" disabled>Stop</button>
+        </div>
+        <video id="localVideo" autoplay muted playsinline class="w-full rounded border border-gray-700 bg-black"></video>
+        <div id="log" class="text-xs font-mono h-48 overflow-y-auto bg-gray-800 p-2 rounded"></div>
+    </div>
+    <script>
+        const log = (msg) => {
+            const el = document.getElementById('log');
+            el.innerText += `[${new Date().toLocaleTimeString()}] ${msg}\n`;
+            el.scrollTop = el.scrollHeight;
+        };
+        const setStatus = (msg) => document.getElementById('status').innerText = msg;
+        const schedulerUrl = () => document.getElementById('schedulerUrl').value.replace(/\/$/, '');
+        let deviceToken = null;
+        let deviceId = null;
+        let room = null;
+        let heartbeatInterval = null;
+        let stream = null;
+        async function post(path, body, headers = {}) {
+            const res = await fetch(`${schedulerUrl()}${path}`, {
+                method: 'POST',
+                headers: { 'Content-Type': 'application/json', ...headers },
+                body: JSON.stringify(body)
+            });
+            if (!res.ok) throw new Error(`${res.status}: ${await res.text()}`);
+            return res.json();
+        }
+        document.getElementById('enrollBtn').onclick = async () => {
+            try {
+                const token = document.getElementById('enrollmentToken').value.trim();
+                if (!token) return alert('Enter enrollment token from scheduler logs');
+                const payload = {
+                    enrollment_token: token,
+                    name: document.getElementById('robotName').value,
+                    lan_ip: '192.168.1.x'
+                };
+                const data = await post('/api/devices/enroll', payload);
+                deviceId = data.device_id;
+                deviceToken = data.device_token;
+                log(`Enrolled: ${deviceId}`);
+                setStatus(`Enrolled ${deviceId}`);
+                document.getElementById('startBtn').disabled = false;
+                heartbeatInterval = setInterval(async () => {
+                    await fetch(`${schedulerUrl()}/api/devices/${deviceId}/heartbeat`, {
+                        method: 'POST',
+                        headers: { 'Authorization': `Bearer ${deviceToken}`, 'Content-Type': 'application/json' },
+                        body: JSON.stringify({ status: 'online', ip: '192.168.1.x' })
+                    });
+                }, 5000);
+            } catch (e) {
+                log(`Enroll error: ${e.message}`);
+            }
+        };
+        document.getElementById('startBtn').onclick = async () => {
+            try {
+                stream = await navigator.mediaDevices.getUserMedia({ video: true, audio: true });
+                document.getElementById('localVideo').srcObject = stream;
+                log('Camera + mic active');
+                document.getElementById('triggerBtn').disabled = false;
+                document.getElementById('stopBtn').disabled = false;
+                setStatus('Camera active — ready to trigger');
+            } catch (e) {
+                log(`Media error: ${e.message}`);
+            }
+        };
+        document.getElementById('triggerBtn').onclick = async () => {
+            try {
+                setStatus('Requesting session...');
+                const session = await post(`/api/devices/${deviceId}/request-session`, {}, { 'Authorization': `Bearer ${deviceToken}` });
+                log(`Session: ${session.session_id} room=${session.room_name}`);
+                const { Room, RoomEvent } = LiveKitClient;
+                room = new Room({
+                    adaptiveStream: true,
+                    dynacast: true,
+                    audioCaptureDefaults: { autoGainControl: true, noiseSuppression: true, echoCancellation: true }
+                });
+                room.on(RoomEvent.Connected, () => log('LiveKit connected'));
+                room.on(RoomEvent.Disconnected, (reason) => log(`LiveKit disconnected: ${reason}`));
+                room.on(RoomEvent.ConnectionStateChanged, (state) => log(`LiveKit state: ${state}`));
+                await room.connect(session.server_url, session.token);
+                await room.localParticipant.enableCameraAndMicrophone();
+                log('Published camera + mic to room');
+                await post(`/api/sessions/${session.session_id}/joined`, {}, { 'Authorization': `Bearer ${deviceToken}` });
+                log('Marked session joined (latency recorded)');
+                setStatus(`Streaming: ${session.room_name}`);
+            } catch (e) {
+                log(`Trigger error: ${e.message}`);
+                setStatus('Trigger failed');
+            }
+        };
+        document.getElementById('stopBtn').onclick = async () => {
+            if (room) { await room.disconnect(); room = null; }
+            if (stream) { stream.getTracks().forEach(t => t.stop()); stream = null; }
+            if (heartbeatInterval) { clearInterval(heartbeatInterval); heartbeatInterval = null; }
+            log('Stopped');
+            setStatus('Stopped');
+            document.getElementById('triggerBtn').disabled = true;
+            document.getElementById('stopBtn').disabled = true;
+        };
+    </script>
+</body>
+</html>
+"""
 if __name__ == "__main__":
     import uvicorn
     host = os.getenv("SCHEDULER_HOST", "0.0.0.0")

package/scheduler/preview_agent.py CHANGED Viewed

@@ -142,6 +142,7 @@ class PreviewAgent:
         self.robot_id = cfg.get("robot_id", os.getenv("ROBOT_ID", _hostname()))
         self.device_token: Optional[str] = cfg.get("device_token") or os.getenv("DEVICE_TOKEN") or _load_token()
         self.device_id: Optional[str] = cfg.get("device_id")
+        self.enrollment_token: Optional[str] = cfg.get("enrollment_token")
         self.video_device = cfg.get("video_device", os.getenv("VIDEO_DEVICE", "auto"))
         self.audio_device = cfg.get("audio_device", os.getenv("AUDIO_DEVICE", "default"))
         self.width = int(cfg.get("video_width", os.getenv("VIDEO_WIDTH", DEFAULT_VIDEO_WIDTH)))
@@ -157,7 +158,7 @@ class PreviewAgent:
         self._publisher: Optional["LiveKitPublisher"] = None
     async def run(self) -> None:
-        enrollment_token = os.getenv("ENROLLMENT_TOKEN") or cfg.get("enrollment_token")
+        enrollment_token = os.getenv("ENROLLMENT_TOKEN") or self.enrollment_token
         if not self.device_token and enrollment_token:
             self.device_token = await _enroll(self.scheduler_url, enrollment_token, self.robot_id)
@@ -627,7 +628,12 @@ def main() -> None:
     loop = asyncio.new_event_loop()
     asyncio.set_event_loop(loop)
     for sig in (signal.SIGINT, signal.SIGTERM):
-        loop.add_signal_handler(sig, agent.shutdown)
+        try:
+            loop.add_signal_handler(sig, agent.shutdown)
+        except NotImplementedError:
+            # add_signal_handler is POSIX-only (raises on Windows) — fall back to
+            # signal.signal, dispatched back onto the loop thread-safely.
+            signal.signal(sig, lambda *_: loop.call_soon_threadsafe(agent.shutdown))
     try:
         loop.run_until_complete(agent.run())

package/scheduler/requirements-robot.txt ADDED Viewed

@@ -0,0 +1,9 @@
+# Python deps for the ROBOT/PI side only (preview_agent.py) — a subset of
+# requirements.txt, which also covers the scheduler server (fastapi/uvicorn/
+# aiosqlite/etc). Keeping this split means a Pi/robot install doesn't pull in
+# server-only packages it will never use.
+httpx==0.27.2
+livekit>=0.18
+opencv-python>=4.8
+pyaudio>=0.2
+picamera2>=0.3; platform_machine == 'aarch64' or platform_machine == 'arm64'