robopark 3.3.23 → 3.3.25

package/dist/robopark/livekit-server.js

@@ -193,9 +193,24 @@ function killListenersOn(port) {
 }
 export async function startLiveKitServer(dataDir, foreground) {
     const config = join(dataDir, 'livekit.yaml');
-    // The scheduler only writes this for a registry entry pointing at localhost.
-    if (!existsSync(config) || statSync(config).size === 0)
+    // The scheduler writes this during startup, and this runs the moment it
+    // reports ready - so the file is often a beat behind. Returning silently on
+    // the first miss meant the binary was never downloaded and camera streaming
+    // was dead for the whole session, with nothing logged to say why. Wait for
+    // it, then say plainly if it truly never arrives.
+    const configReady = await (async () => {
+        for (let i = 0; i < 30; i++) {
+            if (existsSync(config) && statSync(config).size > 0)
+                return true;
+            await new Promise((r) => setTimeout(r, 1000));
+        }
+        return false;
+    })();
+    if (!configReady) {
+        console.log(chalk.yellow('  ⚠ no livekit.yaml after 30s — camera streaming is unavailable.'));
+        console.log(chalk.dim(`    expected at ${config}; the scheduler writes it for a local LiveKit registry entry.`));
         return null;
+    }
     const binary = await ensureLiveKitBinary();
     if (!binary) {
         console.log(chalk.dim('    camera streaming stays unavailable until a LiveKit server is running.'));

package/dist/robopark/livekit-server.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "robopark",
-  "version": "3.3.23",
+  "version": "3.3.25",
   "description": "RoboPark fleet control CLI \u2014 scheduler, control UI, and character voice calls. Standalone: no infinicode runtime.",
   "type": "module",
   "bin": {

package/scheduler/static/voice-join.html

@@ -1,6 +1,6 @@
 <!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="production-motion-kiosk-20260729-1">
+<meta name="theme-color" content="#080704"><meta name="robopark-voice-join-build" content="production-camera-retry-20260730-1">
 <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}
@@ -12,7 +12,7 @@
   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">Microphone</label><input id="mic-sensitivity" type="range" min="0" max="100" step="1"><output class="audio-value" id="mic-value"></output></div><p class="audio-note">Changes apply immediately and stay on this browser.</p></div>';document.getElementById('error').after(audioControls);
   var callControls=document.createElement('details');callControls.id='call-controls';callControls.className='call-controls';callControls.open=true;callControls.innerHTML='<summary>Microphone and speaker</summary><div class=call-panel id=call-panel></div>';audioControls.open=true;audioControls.after(callControls);
-  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')||character):'',stack=q.get('stack')||'',share=q.get('share_id')||'',session=null,eventToken=null,conversation=null,conversationId=null,keepalive=null,poller=null,retryTimer=null,cameraPublishRetry=null,ending=false,desired=false,alwaysOn=false,connecting=false,generation=0,retryAttempt=0,lastProviderError=null,history=[],seen={},micPipelines=[],micAudioContext=null,localVideoStream=null,activeCameraDevice=null,cameraRoom=null,cameraSdkPromise=null,speakerVolume=storedNumber('robopark.voice.speaker',100,0,100),micSensitivity=storedNumber('robopark.voice.micSensitivity',100,0,100),inputDeviceId='',cameraDeviceId='',outputDeviceId='';
+  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')||character):'',stack=q.get('stack')||'',share=q.get('share_id')||'',session=null,eventToken=null,conversation=null,conversationId=null,keepalive=null,poller=null,retryTimer=null,cameraPublishRetry=null,cameraRetryCount=0,ending=false,desired=false,alwaysOn=false,connecting=false,generation=0,retryAttempt=0,lastProviderError=null,history=[],seen={},micPipelines=[],micAudioContext=null,localVideoStream=null,activeCameraDevice=null,cameraRoom=null,cameraSdkPromise=null,speakerVolume=storedNumber('robopark.voice.speaker',100,0,100),micSensitivity=storedNumber('robopark.voice.micSensitivity',100,0,100),inputDeviceId='',cameraDeviceId='',outputDeviceId='';
   // The panel carries two sources: a <video> for local/LiveKit camera tracks and the
   // original <img> for the robot MJPEG feed, which a <video> element cannot decode.
   // Both stay mounted so the ambient vision sampler can read whichever is showing.
@@ -54,8 +54,8 @@
   }
   function refreshHardware(requestPermission){if(!navigator.mediaDevices||!navigator.mediaDevices.enumerateDevices){setHardwareStatus(mediaBlockedReason(),'bad');return Promise.reject(new Error('media devices unavailable'))}var permission=Promise.resolve();if(requestPermission){permission=navigator.mediaDevices.getUserMedia({audio:true,video:true}).catch(function(){return navigator.mediaDevices.getUserMedia({audio:true})}).then(function(stream){stream.getTracks().forEach(function(track){track.stop()})})}setHardwareStatus(requestPermission?'Requesting browser media access...':'Scanning browser hardware...','');return permission.then(function(){return navigator.mediaDevices.enumerateDevices()}).then(function(devices){fillHardwareSelect('call-microphone',devices,'audioinput','microphone');fillHardwareSelect('call-camera',devices,'videoinput','camera');fillHardwareSelect('call-speaker',devices,'audiooutput','speaker');var mic=devices.filter(function(device){return device.kind==='audioinput'}).length,cam=devices.filter(function(device){return device.kind==='videoinput'}).length,out=devices.filter(function(device){return device.kind==='audiooutput'}).length;setHardwareStatus('Ready: '+mic+' microphone(s), '+cam+' camera(s), '+out+' speaker output(s).','ok');return devices}).catch(function(error){setHardwareStatus(error&&error.message||String(error),'bad');throw error})}
   function ensureCameraSdk(){if(window.LivekitClient)return Promise.resolve(window.LivekitClient);if(cameraSdkPromise)return cameraSdkPromise;cameraSdkPromise=new Promise(function(resolve,reject){var script=document.createElement('script');script.src='/vendor/livekit-client.umd.js';script.onload=function(){window.LivekitClient?resolve(window.LivekitClient):reject(new Error('LiveKit camera SDK unavailable'))};script.onerror=function(){reject(new Error('LiveKit camera SDK failed to load'))};document.head.appendChild(script)});return cameraSdkPromise}
-  function scheduleCameraPublishRetry(){if(cameraPublishRetry||ending||!localVideoStream)return;cameraPublishRetry=setTimeout(function(){cameraPublishRetry=null;publishLocalVideo().catch(function(){})},3000)}
-  function publishLocalVideo(){if(!localVideoStream||!localVideoStream.getVideoTracks().length)return Promise.resolve();if(cameraRoom)return Promise.resolve();return Promise.all([ensureCameraSdk(),fetch(API_BASE+'/api/camera-token',{method:'POST',headers:{'content-type':'application/json'},body:JSON.stringify({character_id:character,robot_id:robot||null})}).then(function(response){if(!response.ok)throw new Error('camera token '+response.status);return response.json()})]).then(function(parts){var LK=parts[0],info=parts[1],room=new LK.Room();cameraRoom=room;room.on(LK.RoomEvent.Disconnected,function(){if(cameraRoom===room){cameraRoom=null;scheduleCameraPublishRetry()}});return room.connect(info.url,info.token).then(function(){return room.localParticipant.publishTrack(localVideoStream.getVideoTracks()[0],{name:'camera',source:LK.Track.Source.Camera})}).then(function(){if(cameraPublishRetry){clearTimeout(cameraPublishRetry);cameraPublishRetry=null}event('camera_published','ok','Camera relay live',{})})}).catch(function(error){cameraRoom=null;event('camera_published','failed',error.message,{});scheduleCameraPublishRetry();throw error})}
+  function scheduleCameraPublishRetry(){if(cameraPublishRetry||ending||!localVideoStream)return;if(cameraRetryCount>=8){event('camera_published','failed','Giving up after 8 attempts - the media server is not reachable.',{attempts:cameraRetryCount});return}var delay=Math.min(30000,3000*Math.pow(1.6,cameraRetryCount));cameraRetryCount++;cameraPublishRetry=setTimeout(function(){cameraPublishRetry=null;publishLocalVideo().catch(function(){})},delay)}
+  function publishLocalVideo(){if(!localVideoStream||!localVideoStream.getVideoTracks().length)return Promise.resolve();if(cameraRoom)return Promise.resolve();return Promise.all([ensureCameraSdk(),fetch(API_BASE+'/api/camera-token',{method:'POST',headers:{'content-type':'application/json'},body:JSON.stringify({character_id:character,robot_id:robot||null})}).then(function(response){if(!response.ok)throw new Error('camera token '+response.status);return response.json()})]).then(function(parts){var LK=parts[0],info=parts[1],room=new LK.Room();cameraRoom=room;room.on(LK.RoomEvent.Disconnected,function(){if(cameraRoom===room){cameraRoom=null;scheduleCameraPublishRetry()}});return room.connect(info.url,info.token).then(function(){return room.localParticipant.publishTrack(localVideoStream.getVideoTracks()[0],{name:'camera',source:LK.Track.Source.Camera})}).then(function(){cameraRetryCount=0;if(cameraPublishRetry){clearTimeout(cameraPublishRetry);cameraPublishRetry=null}event('camera_published','ok','Camera relay live',{})})}).catch(function(error){try{if(room&&room.disconnect)room.disconnect(true)}catch(_){}cameraRoom=null;event('camera_published','failed',error.message,{});scheduleCameraPublishRetry();throw error})}
   function startLocalVideo(){if(!navigator.mediaDevices||!navigator.mediaDevices.getUserMedia)return Promise.resolve();if(localVideoStream&&activeCameraDevice===cameraDeviceId)return publishLocalVideo();if(localVideoStream)localVideoStream.getTracks().forEach(function(track){track.stop()});if(cameraRoom){cameraRoom.disconnect();cameraRoom=null}var video=cameraDeviceId?{deviceId:{exact:cameraDeviceId}}:true;return navigator.mediaDevices.getUserMedia({video:video,audio:false}).then(function(stream){localVideoStream=stream;activeCameraDevice=cameraDeviceId;el('robot-video').srcObject=stream;if(!robotStreamActive())el('robot-video').hidden=false;el('vision').hidden=false;return publishLocalVideo().catch(function(){})}).catch(function(error){localVideoStream=null;activeCameraDevice=null;el('robot-video').srcObject=null;if(!robotStreamActive()){el('robot-video').hidden=true;el('vision').hidden=true}throw error})}
   function robotStreamActive(){var stream=el('robot-stream');return Boolean(stream&&stream.getAttribute('src'))}
   // Ambient vision. The ElevenLabs contextual_update channel carries text only, so a

package/ui/standalone/public/voice-join.html

@@ -1,6 +1,6 @@
 <!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="production-motion-kiosk-20260729-1">
+<meta name="theme-color" content="#080704"><meta name="robopark-voice-join-build" content="production-camera-retry-20260730-1">
 <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}
@@ -11,7 +11,7 @@
   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">Microphone</label><input id="mic-sensitivity" type="range" min="0" max="100" step="1"><output class="audio-value" id="mic-value"></output></div><p class="audio-note">Changes apply immediately and stay on this browser.</p></div>';document.getElementById('error').after(audioControls);
   var callControls=document.createElement('details');callControls.id='call-controls';callControls.className='call-controls';callControls.open=true;callControls.innerHTML='<summary>Microphone and speaker</summary><div class=call-panel id=call-panel></div>';audioControls.open=true;audioControls.after(callControls);
-  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')||character):'',stack=q.get('stack')||'',share=q.get('share_id')||'',session=null,eventToken=null,conversation=null,conversationId=null,keepalive=null,poller=null,retryTimer=null,cameraPublishRetry=null,ending=false,desired=false,alwaysOn=false,connecting=false,generation=0,retryAttempt=0,lastProviderError=null,history=[],seen={},micPipelines=[],micAudioContext=null,localVideoStream=null,activeCameraDevice=null,cameraRoom=null,cameraSdkPromise=null,speakerVolume=storedNumber('robopark.voice.speaker',100,0,100),micSensitivity=storedNumber('robopark.voice.micSensitivity',100,0,100),inputDeviceId='',cameraDeviceId='',outputDeviceId='';
+  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')||character):'',stack=q.get('stack')||'',share=q.get('share_id')||'',session=null,eventToken=null,conversation=null,conversationId=null,keepalive=null,poller=null,retryTimer=null,cameraPublishRetry=null,cameraRetryCount=0,ending=false,desired=false,alwaysOn=false,connecting=false,generation=0,retryAttempt=0,lastProviderError=null,history=[],seen={},micPipelines=[],micAudioContext=null,localVideoStream=null,activeCameraDevice=null,cameraRoom=null,cameraSdkPromise=null,speakerVolume=storedNumber('robopark.voice.speaker',100,0,100),micSensitivity=storedNumber('robopark.voice.micSensitivity',100,0,100),inputDeviceId='',cameraDeviceId='',outputDeviceId='';
   // The panel carries two sources: a <video> for local/LiveKit camera tracks and the
   // original <img> for the robot MJPEG feed, which a <video> element cannot decode.
   // Both stay mounted so the ambient vision sampler can read whichever is showing.
@@ -53,8 +53,8 @@
   }
   function refreshHardware(requestPermission){if(!navigator.mediaDevices||!navigator.mediaDevices.enumerateDevices){setHardwareStatus(mediaBlockedReason(),'bad');return Promise.reject(new Error('media devices unavailable'))}var permission=Promise.resolve();if(requestPermission){permission=navigator.mediaDevices.getUserMedia({audio:true,video:true}).catch(function(){return navigator.mediaDevices.getUserMedia({audio:true})}).then(function(stream){stream.getTracks().forEach(function(track){track.stop()})})}setHardwareStatus(requestPermission?'Requesting browser media access...':'Scanning browser hardware...','');return permission.then(function(){return navigator.mediaDevices.enumerateDevices()}).then(function(devices){fillHardwareSelect('call-microphone',devices,'audioinput','microphone');fillHardwareSelect('call-camera',devices,'videoinput','camera');fillHardwareSelect('call-speaker',devices,'audiooutput','speaker');var mic=devices.filter(function(device){return device.kind==='audioinput'}).length,cam=devices.filter(function(device){return device.kind==='videoinput'}).length,out=devices.filter(function(device){return device.kind==='audiooutput'}).length;setHardwareStatus('Ready: '+mic+' microphone(s), '+cam+' camera(s), '+out+' speaker output(s).','ok');return devices}).catch(function(error){setHardwareStatus(error&&error.message||String(error),'bad');throw error})}
   function ensureCameraSdk(){if(window.LivekitClient)return Promise.resolve(window.LivekitClient);if(cameraSdkPromise)return cameraSdkPromise;cameraSdkPromise=new Promise(function(resolve,reject){var script=document.createElement('script');script.src='/vendor/livekit-client.umd.js';script.onload=function(){window.LivekitClient?resolve(window.LivekitClient):reject(new Error('LiveKit camera SDK unavailable'))};script.onerror=function(){reject(new Error('LiveKit camera SDK failed to load'))};document.head.appendChild(script)});return cameraSdkPromise}
-  function scheduleCameraPublishRetry(){if(cameraPublishRetry||ending||!localVideoStream)return;cameraPublishRetry=setTimeout(function(){cameraPublishRetry=null;publishLocalVideo().catch(function(){})},3000)}
-  function publishLocalVideo(){if(!localVideoStream||!localVideoStream.getVideoTracks().length)return Promise.resolve();if(cameraRoom)return Promise.resolve();return Promise.all([ensureCameraSdk(),fetch('/api/robopark/camera-token',{method:'POST',headers:{'content-type':'application/json'},body:JSON.stringify({character_id:character,robot_id:robot||null})}).then(function(response){if(!response.ok)throw new Error('camera token '+response.status);return response.json()})]).then(function(parts){var LK=parts[0],info=parts[1],room=new LK.Room();cameraRoom=room;room.on(LK.RoomEvent.Disconnected,function(){if(cameraRoom===room){cameraRoom=null;scheduleCameraPublishRetry()}});return room.connect(info.url,info.token).then(function(){return room.localParticipant.publishTrack(localVideoStream.getVideoTracks()[0],{name:'camera',source:LK.Track.Source.Camera})}).then(function(){if(cameraPublishRetry){clearTimeout(cameraPublishRetry);cameraPublishRetry=null}event('camera_published','ok','Camera relay live',{})})}).catch(function(error){cameraRoom=null;event('camera_published','failed',error.message,{});scheduleCameraPublishRetry();throw error})}
+  function scheduleCameraPublishRetry(){if(cameraPublishRetry||ending||!localVideoStream)return;if(cameraRetryCount>=8){event('camera_published','failed','Giving up after 8 attempts - the media server is not reachable.',{attempts:cameraRetryCount});return}var delay=Math.min(30000,3000*Math.pow(1.6,cameraRetryCount));cameraRetryCount++;cameraPublishRetry=setTimeout(function(){cameraPublishRetry=null;publishLocalVideo().catch(function(){})},delay)}
+  function publishLocalVideo(){if(!localVideoStream||!localVideoStream.getVideoTracks().length)return Promise.resolve();if(cameraRoom)return Promise.resolve();return Promise.all([ensureCameraSdk(),fetch('/api/robopark/camera-token',{method:'POST',headers:{'content-type':'application/json'},body:JSON.stringify({character_id:character,robot_id:robot||null})}).then(function(response){if(!response.ok)throw new Error('camera token '+response.status);return response.json()})]).then(function(parts){var LK=parts[0],info=parts[1],room=new LK.Room();cameraRoom=room;room.on(LK.RoomEvent.Disconnected,function(){if(cameraRoom===room){cameraRoom=null;scheduleCameraPublishRetry()}});return room.connect(info.url,info.token).then(function(){return room.localParticipant.publishTrack(localVideoStream.getVideoTracks()[0],{name:'camera',source:LK.Track.Source.Camera})}).then(function(){cameraRetryCount=0;if(cameraPublishRetry){clearTimeout(cameraPublishRetry);cameraPublishRetry=null}event('camera_published','ok','Camera relay live',{})})}).catch(function(error){try{if(room&&room.disconnect)room.disconnect(true)}catch(_){}cameraRoom=null;event('camera_published','failed',error.message,{});scheduleCameraPublishRetry();throw error})}
   function startLocalVideo(){if(!navigator.mediaDevices||!navigator.mediaDevices.getUserMedia)return Promise.resolve();if(localVideoStream&&activeCameraDevice===cameraDeviceId)return publishLocalVideo();if(localVideoStream)localVideoStream.getTracks().forEach(function(track){track.stop()});if(cameraRoom){cameraRoom.disconnect();cameraRoom=null}var video=cameraDeviceId?{deviceId:{exact:cameraDeviceId}}:true;return navigator.mediaDevices.getUserMedia({video:video,audio:false}).then(function(stream){localVideoStream=stream;activeCameraDevice=cameraDeviceId;el('robot-video').srcObject=stream;if(!robotStreamActive())el('robot-video').hidden=false;el('vision').hidden=false;return publishLocalVideo().catch(function(){})}).catch(function(error){localVideoStream=null;activeCameraDevice=null;el('robot-video').srcObject=null;if(!robotStreamActive()){el('robot-video').hidden=true;el('vision').hidden=true}throw error})}
   function robotStreamActive(){var stream=el('robot-stream');return Boolean(stream&&stream.getAttribute('src'))}
   // Ambient vision. The ElevenLabs contextual_update channel carries text only, so a