robopark 3.2.0 → 3.3.0

package/pi-client/_install_steps.sh

@@ -1,29 +1,29 @@
-#!/bin/bash
-set -e
-echo "=== reset perms (cleanup from previous attempt) ==="
-sudo rm -rf /opt/robopark-pi-client/.venv 2>/dev/null || true
-sudo chown -R robopark:robopark /opt/robopark-pi-client
-
-echo "=== apt deps (no signing strict) ==="
-sudo apt-get -o Acquire::AllowInsecureRepositories=true update 2>&1 | tail -3
-sudo apt-get install -y --no-install-recommends python3-venv python3-pip libatlas3-base libasound2t64 portaudio19-dev libjpeg-dev libpng-dev ffmpeg 2>&1 | tail -3
-echo "apt-done"
-
-echo "=== create venv as robopark ==="
-sudo -u robopark python3 -m venv /opt/robopark-pi-client/.venv
-sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet --upgrade pip
-sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet httpx
-echo "httpx-done"
-
-echo "=== media stack (optional, may take a while) ==="
-sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet livekit livekit-api numpy 2>&1 | tail -3
-echo "lk-done"
-sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet opencv-python-headless 2>&1 | tail -3
-echo "cv-done"
-sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet sounddevice 2>&1 | tail -3
-echo "sd-done"
-
-echo "=== final state ==="
-ls -la /opt/robopark-pi-client
-ls /opt/robopark-pi-client/.venv/bin | head -5
-echo "all-done"
+#!/bin/bash
+set -e
+echo "=== reset perms (cleanup from previous attempt) ==="
+sudo rm -rf /opt/robopark-pi-client/.venv 2>/dev/null || true
+sudo chown -R robopark:robopark /opt/robopark-pi-client
+
+echo "=== apt deps (no signing strict) ==="
+sudo apt-get -o Acquire::AllowInsecureRepositories=true update 2>&1 | tail -3
+sudo apt-get install -y --no-install-recommends python3-venv python3-pip libatlas3-base libasound2t64 portaudio19-dev libjpeg-dev libpng-dev ffmpeg 2>&1 | tail -3
+echo "apt-done"
+
+echo "=== create venv as robopark ==="
+sudo -u robopark python3 -m venv /opt/robopark-pi-client/.venv
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet --upgrade pip
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet httpx
+echo "httpx-done"
+
+echo "=== media stack (optional, may take a while) ==="
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet livekit livekit-api numpy 2>&1 | tail -3
+echo "lk-done"
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet opencv-python-headless 2>&1 | tail -3
+echo "cv-done"
+sudo -u robopark /opt/robopark-pi-client/.venv/bin/pip install --quiet sounddevice 2>&1 | tail -3
+echo "sd-done"
+
+echo "=== final state ==="
+ls -la /opt/robopark-pi-client
+ls /opt/robopark-pi-client/.venv/bin | head -5
+echo "all-done"

package/pi-client/client.py

@@ -20,15 +20,15 @@
 # Subsequent runs (token is in device.json):
 #   python client.py --scheduler-url http://100.64.1.5:8080
 
-import argparse
-import asyncio
-import glob
-import json
-import logging
-import os
-import signal
-import subprocess
-import sys
+import argparse
+import asyncio
+import glob
+import json
+import logging
+import os
+import signal
+import subprocess
+import sys
 import time
 from pathlib import Path
 from typing import Optional
@@ -41,45 +41,45 @@ logging.basicConfig(
     level=logging.INFO,
     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
 )
-log = logging.getLogger("robopark-pi")
-
-
-def get_device_inventory() -> dict:
-    """Report real Linux media devices so the remote dashboard can select them."""
-    inventory = {
-        "video": [{"id": "auto", "name": "Auto detect"}, {"id": "none", "name": "Disable camera"}],
-        "audio_input": [{"id": "default", "name": "System default input"}],
-        "audio_output": [{"id": "default", "name": "System default output"}],
-        "platform": sys.platform,
-    }
-    for path in sorted(glob.glob("/dev/video*")):
-        inventory["video"].append({"id": path, "name": path, "backend": "v4l2"})
-
-    try:
-        import pyaudio
-        pa = pyaudio.PyAudio()
-        for index in range(pa.get_device_count()):
-            info = pa.get_device_info_by_index(index)
-            name = str(info.get("name", f"Audio device {index}"))
-            item = {"id": str(index), "name": name, "host_api": str(info.get("hostApi", ""))}
-            if info.get("maxInputChannels", 0) > 0:
-                inventory["audio_input"].append(item.copy())
-            if info.get("maxOutputChannels", 0) > 0:
-                inventory["audio_output"].append(item.copy())
-        pa.terminate()
-    except Exception as exc:
-        # Keep the device visible even when PortAudio is not installed; ALSA
-        # names are still useful for an operator diagnosing a Pi remotely.
-        log.debug("PyAudio inventory unavailable: %s", exc)
-        for command, key, kind in (("arecord", "audio_input", "input"), ("aplay", "audio_output", "output")):
-            try:
-                output = subprocess.run([command, "-L"], capture_output=True, text=True, timeout=3, check=False).stdout
-                for name in (line.strip() for line in output.splitlines()):
-                    if name and not name.startswith("(") and name not in {x["id"] for x in inventory[key]}:
-                        inventory[key].append({"id": name, "name": name, "backend": "alsa", "kind": kind})
-            except Exception:
-                pass
-    return inventory
+log = logging.getLogger("robopark-pi")
+
+
+def get_device_inventory() -> dict:
+    """Report real Linux media devices so the remote dashboard can select them."""
+    inventory = {
+        "video": [{"id": "auto", "name": "Auto detect"}, {"id": "none", "name": "Disable camera"}],
+        "audio_input": [{"id": "default", "name": "System default input"}],
+        "audio_output": [{"id": "default", "name": "System default output"}],
+        "platform": sys.platform,
+    }
+    for path in sorted(glob.glob("/dev/video*")):
+        inventory["video"].append({"id": path, "name": path, "backend": "v4l2"})
+
+    try:
+        import pyaudio
+        pa = pyaudio.PyAudio()
+        for index in range(pa.get_device_count()):
+            info = pa.get_device_info_by_index(index)
+            name = str(info.get("name", f"Audio device {index}"))
+            item = {"id": str(index), "name": name, "host_api": str(info.get("hostApi", ""))}
+            if info.get("maxInputChannels", 0) > 0:
+                inventory["audio_input"].append(item.copy())
+            if info.get("maxOutputChannels", 0) > 0:
+                inventory["audio_output"].append(item.copy())
+        pa.terminate()
+    except Exception as exc:
+        # Keep the device visible even when PortAudio is not installed; ALSA
+        # names are still useful for an operator diagnosing a Pi remotely.
+        log.debug("PyAudio inventory unavailable: %s", exc)
+        for command, key, kind in (("arecord", "audio_input", "input"), ("aplay", "audio_output", "output")):
+            try:
+                output = subprocess.run([command, "-L"], capture_output=True, text=True, timeout=3, check=False).stdout
+                for name in (line.strip() for line in output.splitlines()):
+                    if name and not name.startswith("(") and name not in {x["id"] for x in inventory[key]}:
+                        inventory[key].append({"id": name, "name": name, "backend": "alsa", "kind": kind})
+            except Exception:
+                pass
+    return inventory
 
 
 class PiClient:
@@ -96,10 +96,10 @@ class PiClient:
         self.heartbeat_interval = args.heartbeat_interval
         self.config_poll_interval = args.config_poll_interval
         self.join_room = args.join_room
-        self.room_name = args.room_name
-        self.video_device = args.video_device
-        self.audio_device = args.audio_device
-        self.audio_output_device = args.audio_output_device
+        self.room_name = args.room_name
+        self.video_device = args.video_device
+        self.audio_device = args.audio_device
+        self.audio_output_device = args.audio_output_device
 
         self.device_id: Optional[str] = None
         self.device_token: Optional[str] = None
@@ -172,12 +172,12 @@ class PiClient:
         log.info(f"Enrolled as device_id={self.device_id}")
         self._save_state()
 
-    async def heartbeat(self):
-        body = {
-            "status": "online",
-            "ip": self.tailscale_ip or self.lan_ip,
-            "device_inventory": get_device_inventory(),
-        }
+    async def heartbeat(self):
+        body = {
+            "status": "online",
+            "ip": self.tailscale_ip or self.lan_ip,
+            "device_inventory": get_device_inventory(),
+        }
         async with httpx.AsyncClient(timeout=10.0) as c:
             r = await c.post(
                 f"{self.scheduler_url}/api/devices/{self.device_id}/heartbeat",
@@ -233,10 +233,10 @@ class PiClient:
             production_mode_provider=lambda: self.production_mode,
             scheduler_url=self.scheduler_url,
             device_id=self.device_id,
-            device_token=self.device_token,
-            video_device=self.video_device,
-            audio_device=self.audio_device,
-            audio_output_device=self.audio_output_device,
+            device_token=self.device_token,
+            video_device=self.video_device,
+            audio_device=self.audio_device,
+            audio_output_device=self.audio_output_device,
         )
 
     # ---- main loop ------------------------------------------------------
@@ -284,14 +284,14 @@ class PiClient:
                     if int(time.time()) % int(self.config_poll_interval) < int(self.heartbeat_interval):
                         cfg = await self.fetch_config()
                         self.production_mode = bool(cfg.get("production_mode", False))
-                        if cfg.get("character_id"):
-                            self.character_id = cfg["character_id"]
-                        if cfg.get("video_device") is not None:
-                            self.video_device = cfg["video_device"]
-                        if cfg.get("audio_device") is not None:
-                            self.audio_device = cfg["audio_device"]
-                        if cfg.get("audio_output_device") is not None:
-                            self.audio_output_device = cfg["audio_output_device"]
+                        if cfg.get("character_id"):
+                            self.character_id = cfg["character_id"]
+                        if cfg.get("video_device") is not None:
+                            self.video_device = cfg["video_device"]
+                        if cfg.get("audio_device") is not None:
+                            self.audio_device = cfg["audio_device"]
+                        if cfg.get("audio_output_device") is not None:
+                            self.audio_output_device = cfg["audio_output_device"]
                 except Exception as e:
                     log.debug(f"Config poll error: {e}")
 
@@ -323,11 +323,11 @@ def parse_args() -> argparse.Namespace:
                    help="Base URL of the local RoboVisionAI_PI motor server")
     p.add_argument("--livekit-url", default=None, help="e.g. ws://100.64.1.5:7880")
     p.add_argument("--character-id", default=None, help="Override character assignment")
-    p.add_argument("--room-name", default="robopark-pi-standby",
-                   help="LiveKit room to join")
-    p.add_argument("--video-device", default="auto", help="Camera path/index, picamera, or auto")
-    p.add_argument("--audio-device", default="default", help="Microphone name/index or default")
-    p.add_argument("--audio-output-device", default="default", help="Speaker name/index or default")
+    p.add_argument("--room-name", default="robopark-pi-standby",
+                   help="LiveKit room to join")
+    p.add_argument("--video-device", default="auto", help="Camera path/index, picamera, or auto")
+    p.add_argument("--audio-device", default="default", help="Microphone name/index or default")
+    p.add_argument("--audio-output-device", default="default", help="Speaker name/index or default")
     p.add_argument("--heartbeat-interval", type=float, default=10.0)
     p.add_argument("--config-poll-interval", type=float, default=30.0)
     p.add_argument("--join-room", action="store_true",
@@ -361,4 +361,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

package/pi-client/install.sh

@@ -1,41 +1,41 @@
-#!/usr/bin/env bash
-# Install RoboPark Pi Client on a Raspberry Pi
-# Usage:
-#   sudo ./install.sh --scheduler-url http://100.64.1.5:8080 \
-#                     --enrollment-token <TOKEN>
-set -euo pipefail
-
-SCHEDULER_URL=""
-ENROLLMENT_TOKEN=""
-
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --scheduler-url) SCHEDULER_URL="$2"; shift 2 ;;
-    --enrollment-token) ENROLLMENT_TOKEN="$2"; shift 2 ;;
-    *) echo "Unknown arg: $1"; exit 1 ;;
-  esac
-done
-
-if [[ -z "$SCHEDULER_URL" || -z "$ENROLLMENT_TOKEN" ]]; then
-  echo "Usage: $0 --scheduler-url URL --enrollment-token TOKEN"
-  exit 1
-fi
-
-id "robopark" 2>/dev/null || useradd -r -s /bin/false robopark
-install -d -m 755 -o robopark -g robopark /opt/robopark-pi-client
-install -d -m 700 -o robopark -g robopark /etc/robopark
-cp -r ./* /opt/robopark-pi-client/
-chown -R robopark:robopark /opt/robopark-pi-client
-
-sudo -u robopark python3 -m venv /opt/robopark-pi-client/.venv
-/opt/robopark-pi-client/.venv/bin/pip install --upgrade pip
-/opt/robopark-pi-client/.venv/bin/pip install -r /opt/robopark-pi-client/requirements.txt
-# On Pi you typically want the full media stack:
-/opt/robopark-pi-client/.venv/bin/pip install livekit livekit-api sounddevice numpy opencv-python av
-
-cp /opt/robopark-pi-client/robopark-pi-client.service /etc/systemd/system/
-systemctl daemon-reload
-systemctl enable --now robopark-pi-client.service
-
-echo "First-boot enrollment will run as part of the service start."
+#!/usr/bin/env bash
+# Install RoboPark Pi Client on a Raspberry Pi
+# Usage:
+#   sudo ./install.sh --scheduler-url http://100.64.1.5:8080 \
+#                     --enrollment-token <TOKEN>
+set -euo pipefail
+
+SCHEDULER_URL=""
+ENROLLMENT_TOKEN=""
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --scheduler-url) SCHEDULER_URL="$2"; shift 2 ;;
+    --enrollment-token) ENROLLMENT_TOKEN="$2"; shift 2 ;;
+    *) echo "Unknown arg: $1"; exit 1 ;;
+  esac
+done
+
+if [[ -z "$SCHEDULER_URL" || -z "$ENROLLMENT_TOKEN" ]]; then
+  echo "Usage: $0 --scheduler-url URL --enrollment-token TOKEN"
+  exit 1
+fi
+
+id "robopark" 2>/dev/null || useradd -r -s /bin/false robopark
+install -d -m 755 -o robopark -g robopark /opt/robopark-pi-client
+install -d -m 700 -o robopark -g robopark /etc/robopark
+cp -r ./* /opt/robopark-pi-client/
+chown -R robopark:robopark /opt/robopark-pi-client
+
+sudo -u robopark python3 -m venv /opt/robopark-pi-client/.venv
+/opt/robopark-pi-client/.venv/bin/pip install --upgrade pip
+/opt/robopark-pi-client/.venv/bin/pip install -r /opt/robopark-pi-client/requirements.txt
+# On Pi you typically want the full media stack:
+/opt/robopark-pi-client/.venv/bin/pip install livekit livekit-api sounddevice numpy opencv-python av
+
+cp /opt/robopark-pi-client/robopark-pi-client.service /etc/systemd/system/
+systemctl daemon-reload
+systemctl enable --now robopark-pi-client.service
+
+echo "First-boot enrollment will run as part of the service start."
 echo "Tail logs with: journalctl -u robopark-pi-client -f"

package/pi-client/join_convo.sh

@@ -1,55 +1,55 @@
-#!/usr/bin/env bash
-# Join a LiveKit conversation from the Pi.
-#
-# Calls the local Pi UI's /api/join endpoint, which itself asks the scheduler
-# for a short-lived LiveKit access token. The script prints the meet URL
-# AND (if --open) opens it in the default browser on the Pi.
-#
-# Usage:
-#   ./join_convo.sh
-#   ./join_convo.sh --room robopark-pi-test --identity alice --open
-#   PI_UI=http://192.168.1.159:8081 ./join_convo.sh --open
-
-set -euo pipefail
-
-PI_UI="${PI_UI:-http://127.0.0.1:8081}"
-ROOM="${ROOM:-robopark-pi-test}"
-IDENTITY="${IDENTITY:-}"
-OPEN=0
-
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --room) ROOM="$2"; shift 2 ;;
-    --identity) IDENTITY="$2"; shift 2 ;;
-    --open) OPEN=1; shift ;;
-    --pi-ui) PI_UI="$2"; shift 2 ;;
-    -h|--help)
-      sed -n '2,12p' "$0"; exit 0 ;;
-    *) echo "unknown arg: $1" >&2; exit 1 ;;
-  esac
-done
-
-BODY=$(jq -nc --arg room "$ROOM" --arg identity "$IDENTITY" \
-  '{room:$room, identity:$identity}')
-
-echo "Requesting token from $PI_UI (room=$ROOM identity=$IDENTITY)..."
-RESP=$(curl -fsS -X POST "$PI_UI/api/join" \
-  -H 'Content-Type: application/json' -d "$BODY")
-
-URL=$(echo "$RESP" | jq -r '
-  "https://meet.livekit.io/custom?livekitUrl=" + (.url | @uri) +
-  "&token=" + (.token | @uri)
-')
-
-EXPIRES=$(echo "$RESP" | jq -r '.expires_at')
-echo "Token expires: $EXPIRES"
-echo "Meet URL:"
-echo "  $URL"
-
-if [[ $OPEN -eq 1 ]]; then
-  if command -v xdg-open >/dev/null 2>&1; then xdg-open "$URL" >/dev/null 2>&1 || true
-  elif command -v sensible-browser >/dev/null 2>&1; then sensible-browser "$URL" >/dev/null 2>&1 || true
-  elif command -v open >/dev/null 2>&1; then open "$URL" >/dev/null 2>&1 || true
-  else echo "no browser opener found; copy the URL above" >&2; exit 2; fi
-  echo "(opened in browser)"
+#!/usr/bin/env bash
+# Join a LiveKit conversation from the Pi.
+#
+# Calls the local Pi UI's /api/join endpoint, which itself asks the scheduler
+# for a short-lived LiveKit access token. The script prints the meet URL
+# AND (if --open) opens it in the default browser on the Pi.
+#
+# Usage:
+#   ./join_convo.sh
+#   ./join_convo.sh --room robopark-pi-test --identity alice --open
+#   PI_UI=http://192.168.1.159:8081 ./join_convo.sh --open
+
+set -euo pipefail
+
+PI_UI="${PI_UI:-http://127.0.0.1:8081}"
+ROOM="${ROOM:-robopark-pi-test}"
+IDENTITY="${IDENTITY:-}"
+OPEN=0
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --room) ROOM="$2"; shift 2 ;;
+    --identity) IDENTITY="$2"; shift 2 ;;
+    --open) OPEN=1; shift ;;
+    --pi-ui) PI_UI="$2"; shift 2 ;;
+    -h|--help)
+      sed -n '2,12p' "$0"; exit 0 ;;
+    *) echo "unknown arg: $1" >&2; exit 1 ;;
+  esac
+done
+
+BODY=$(jq -nc --arg room "$ROOM" --arg identity "$IDENTITY" \
+  '{room:$room, identity:$identity}')
+
+echo "Requesting token from $PI_UI (room=$ROOM identity=$IDENTITY)..."
+RESP=$(curl -fsS -X POST "$PI_UI/api/join" \
+  -H 'Content-Type: application/json' -d "$BODY")
+
+URL=$(echo "$RESP" | jq -r '
+  "https://meet.livekit.io/custom?livekitUrl=" + (.url | @uri) +
+  "&token=" + (.token | @uri)
+')
+
+EXPIRES=$(echo "$RESP" | jq -r '.expires_at')
+echo "Token expires: $EXPIRES"
+echo "Meet URL:"
+echo "  $URL"
+
+if [[ $OPEN -eq 1 ]]; then
+  if command -v xdg-open >/dev/null 2>&1; then xdg-open "$URL" >/dev/null 2>&1 || true
+  elif command -v sensible-browser >/dev/null 2>&1; then sensible-browser "$URL" >/dev/null 2>&1 || true
+  elif command -v open >/dev/null 2>&1; then open "$URL" >/dev/null 2>&1 || true
+  else echo "no browser opener found; copy the URL above" >&2; exit 2; fi
+  echo "(opened in browser)"
 fi

package/pi-client/livekit_bridge.py

@@ -75,12 +75,12 @@ async def run_livekit(
     on_motor_command: Callable[[str | bytes], Awaitable[str]],
     stop_event: asyncio.Event,
     production_mode_provider: Callable[[], bool],
-    scheduler_url: str = "",
-    device_id: str = "",
-    device_token: str = "",
-    video_device: str = "auto",
-    audio_device: str = "default",
-    audio_output_device: str = "default",
+    scheduler_url: str = "",
+    device_id: str = "",
+    device_token: str = "",
+    video_device: str = "auto",
+    audio_device: str = "default",
+    audio_output_device: str = "default",
 ):
     """Join a LiveKit room, publish mic + cam, subscribe to data channel.
 
@@ -143,8 +143,8 @@ async def run_livekit(
                     try:
                         stream = rtc.AudioStream(track=track)
                         # Open output stream at 48kHz mono (Pi speaker)
-                        output = None if str(audio_output_device).lower() in ("", "default", "auto") else audio_output_device
-                        out = sd.OutputStream(samplerate=OUT_RATE, channels=1, dtype="int16", blocksize=0, device=output)
+                        output = None if str(audio_output_device).lower() in ("", "default", "auto") else audio_output_device
+                        out = sd.OutputStream(samplerate=OUT_RATE, channels=1, dtype="int16", blocksize=0, device=output)
                         out.start()
                         _active_streams[sid] = out
 
@@ -207,16 +207,16 @@ async def run_livekit(
             except Exception as e:
                 log.warning(f"sounddevice unavailable, skipping mic: {e}")
                 return
-            selected_mic = str(audio_device or "default")
-            MIC_DEVICE = None if selected_mic.lower() in ("", "default", "auto") else selected_mic
-            try:
-                if MIC_DEVICE is None:
-                    log.info("mic: opening system default input")
-                else:
-                    log.info(f"mic: opening device {MIC_DEVICE}")
-            except Exception:
-                log.warning(f"mic: device {MIC_DEVICE} not found, trying default")
-                MIC_DEVICE = None
+            selected_mic = str(audio_device or "default")
+            MIC_DEVICE = None if selected_mic.lower() in ("", "default", "auto") else selected_mic
+            try:
+                if MIC_DEVICE is None:
+                    log.info("mic: opening system default input")
+                else:
+                    log.info(f"mic: opening device {MIC_DEVICE}")
+            except Exception:
+                log.warning(f"mic: device {MIC_DEVICE} not found, trying default")
+                MIC_DEVICE = None
             try:
                 source = rtc.AudioSource(sample_rate=16000, num_channels=1)
                 track = rtc.LocalAudioTrack.create_audio_track("mic", source)
@@ -248,11 +248,11 @@ async def run_livekit(
             except Exception as e:
                 log.warning(f"opencv unavailable, skipping camera: {e}")
                 return
-            selected_camera = str(video_device or "auto")
-            camera_index = 0 if selected_camera.lower() in ("", "auto", "default", "first") else selected_camera
-            cap = cv2.VideoCapture(camera_index, cv2.CAP_V4L2)
-            if not cap.isOpened():
-                log.warning(f"camera {selected_camera} not available")
+            selected_camera = str(video_device or "auto")
+            camera_index = 0 if selected_camera.lower() in ("", "auto", "default", "first") else selected_camera
+            cap = cv2.VideoCapture(camera_index, cv2.CAP_V4L2)
+            if not cap.isOpened():
+                log.warning(f"camera {selected_camera} not available")
                 return
             cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
             cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
@@ -295,4 +295,4 @@ async def run_livekit(
                 except Exception: pass
             try: await room.disconnect()
             except Exception: pass
-            log.info("left room, will loop to reconnect")
+            log.info("left room, will loop to reconnect")

package/pi-client/motor_bridge.py

@@ -10,8 +10,8 @@ Command wire format (JSON on the data channel):
     {"op": "stop"}
 """
 
-import asyncio
-import os
+import asyncio
+import os
 import json
 import logging
 from typing import Awaitable, Callable, Optional
@@ -21,12 +21,12 @@ import httpx
 log = logging.getLogger("robopark-pi.motor")
 
 
-class MotorBridge:
-    def __init__(self, motor_server_url: Optional[str], dry_run: bool = False):
+class MotorBridge:
+    def __init__(self, motor_server_url: Optional[str], dry_run: bool = False):
         self.motor_server_url = (motor_server_url or "").rstrip("/")
-        self.dry_run = dry_run
-        token = os.getenv("ROBOPARK_MOTOR_TOKEN", "").strip() or os.getenv("ROBOPARK_MESH_TOKEN", "").strip()
-        self.headers = {"X-RoboPark-Motor-Token": token} if token else {}
+        self.dry_run = dry_run
+        token = os.getenv("ROBOPARK_MOTOR_TOKEN", "").strip() or os.getenv("ROBOPARK_MESH_TOKEN", "").strip()
+        self.headers = {"X-RoboPark-Motor-Token": token} if token else {}
         self._lock = asyncio.Lock()  # the local motor server allows one motor at a time
 
     async def handle_command(self, raw: str | bytes) -> str:
@@ -63,7 +63,7 @@ class MotorBridge:
                 async with httpx.AsyncClient(timeout=seconds + 5.0) as c:
                     r = await c.post(
                         f"{self.motor_server_url}/trigger-motor",
-                        json={"motor_name": name, "seconds": seconds}, headers=self.headers,
+                        json={"motor_name": name, "seconds": seconds}, headers=self.headers,
                     )
                 if r.status_code == 200:
                     return f"moved {name} for {seconds}s"
@@ -78,8 +78,8 @@ class MotorBridge:
             return "dry-run: stop"
         try:
             async with httpx.AsyncClient(timeout=5.0) as c:
-                r = await c.post(f"{self.motor_server_url}/stop-motors", json={}, headers=self.headers)
+                r = await c.post(f"{self.motor_server_url}/stop-motors", json={}, headers=self.headers)
             return f"stop {r.status_code}"
         except Exception as e:
             log.error(f"stop_all failed: {e}")
-            return f"error: {e}"
+            return f"error: {e}"