robopark 3.3.36 → 3.3.38

package/dist/robopark/add-robot.js

@@ -24,7 +24,7 @@
 import chalk from 'chalk';
 import { resolveContext } from './profile.js';
 import { roboparkSetup } from './setup.js';
-function robotReachableSchedulerUrl(schedulerUrl, hubUrl) {
+export function robotReachableSchedulerUrl(schedulerUrl, hubUrl) {
     if (!hubUrl)
         return schedulerUrl;
     try {
@@ -41,7 +41,7 @@ function robotReachableSchedulerUrl(schedulerUrl, hubUrl) {
     }
     return schedulerUrl;
 }
-function schedulerApiUrl(schedulerUrl, path, token) {
+export function schedulerApiUrl(schedulerUrl, path, token) {
     const url = new URL(`${schedulerUrl.replace(/\/+$/, '')}${path}`);
     if (token && url.pathname.startsWith('/robopark/')) {
         url.searchParams.set('token', token);

package/dist/robopark/add-robot.js.map

@@ -1 +1 @@
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+{"version":3,"file":"add-robot.js","sourceRoot":"","sources":["../../src/robopark/add-robot.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,OAAO,KAAK,MAAM,OAAO,CAAC;AAG1B,OAAO,EAAE,cAAc,EAA4B,MAAM,cAAc,CAAC;AACxE,OAAO,EAAE,aAAa,EAAE,MAAM,YAAY,CAAC;AAc3C,MAAM,UAAU,0BAA0B,CAAC,YAAoB,EAAE,MAAe;IAC9E,IAAI,CAAC,MAAM;QAAE,OAAO,YAAY,CAAC;IACjC,IAAI,CAAC;QACH,uEAAuE;QACvE,wEAAwE;QACxE,wEAAwE;QACxE,wDAAwD;QACxD,IAAI,GAAG,CAAC,YAAY,CAAC,CAAC;QACtB,IAAI,GAAG,CAAC,MAAM,CAAC,CAAC;QAChB,OAAO,GAAG,MAAM,CAAC,OAAO,CAAC,MAAM,EAAE,EAAE,CAAC,WAAW,CAAC;IAClD,CAAC;IAAC,MAAM,CAAC;QACP,0EAA0E;IAC5E,CAAC;IACD,OAAO,YAAY,CAAC;AACtB,CAAC;AAED,MAAM,UAAU,eAAe,CAAC,YAAoB,EAAE,IAAY,EAAE,KAAc;IAChF,MAAM,GAAG,GAAG,IAAI,GAAG,CAAC,GAAG,YAAY,CAAC,OAAO,CAAC,MAAM,EAAE,EAAE,CAAC,GAAG,IAAI,EAAE,CAAC,CAAC;IAClE,IAAI,KAAK,IAAI,GAAG,CAAC,QAAQ,CAAC,UAAU,CAAC,YAAY,CAAC,EAAE,CAAC;QACnD,GAAG,CAAC,YAAY,CAAC,GAAG,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC;IACvC,CAAC;IACD,OAAO,GAAG,CAAC,QAAQ,EAAE,CAAC;AACxB,CAAC;AAcD,KAAK,UAAU,mBAAmB,CAChC,YAAoB,EACpB,IAAY,EACZ,WAAoB,EACpB,KAAc;IAEd,MAAM,GAAG,GAAG,eAAe,CAAC,YAAY,EAAE,cAAc,EAAE,KAAK,CAAC,CAAC;IACjE,IAAI,GAAa,CAAC;IAClB,IAAI,CAAC;QACH,GAAG,GAAG,MAAM,KAAK,CAAC,GAAG,EAAE;YACrB,MAAM,EAAE,MAAM;YACd,OAAO,EAAE,EAAE,cAAc,EAAE,kBAAkB,EAAE;YAC/C,IAAI,EAAE,IAAI,CAAC,SAAS,CAAC,EAAE,IAAI,EAAE,YAAY,EAAE,WAAW,EAAE,CAAC;SAC1D,CAAC,CAAC;IACL,CAAC;IAAC,OAAO,KAAK,EAAE,CAAC;QACf,MAAM,KAAK,GAAI,KAAmC,CAAC,KAAK,CAAC;QACzD,MAAM,IAAI,KAAK,CACb,kCAAkC,YAAY,KAAK,KAAK,EAAE,OAAO,IAAK,KAAe,CAAC,OAAO,EAAE,CAChG,CAAC;IACJ,CAAC;IACD,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,CAAC;QACZ,MAAM,IAAI,GAAG,MAAM,GAAG,CAAC,IAAI,EAAE,CAAC,KAAK,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC;QAC9C,MAAM,IAAI,KAAK,CAAC,GAAG,GAAG,CAAC,MAAM,KAAK,IAAI,IAAI,GAAG,CAAC,UAAU,EAAE,CAAC,CAAC;IAC9D,CAAC;IACD,OAAO,CAAC,MAAM,GAAG,CAAC,IAAI,EAAE,CAAyB,CAAC;AACpD,CAAC;AAED,KAAK,UAAU,mBAAmB,CAChC,YAAoB,EACpB,IAAY,EACZ,KAAc;IAEd,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,EAAE,CAAC;IACjC,IAAI,CAAC;QACH,MAAM,GAAG,GAAG,MAAM,KAAK,CAAC,eAAe,CAAC,YAAY,EAAE,wBAAwB,EAAE,KAAK,CAAC,CAAC,CAAC;QACxF,IAAI,CAAC,GAAG,CAAC,EAAE;YAAE,OAAO,SAAS,CAAC;QAC9B,MAAM,OAAO,GAAG,CAAC,MAAM,GAAG,CAAC,IAAI,EAAE,CAAsB,CAAC;QACxD,+CAA+C;QAC/C,MAAM,KAAK,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,WAAW,EAAE,KAAK,KAAK,IAAI,CAAC,CAAC,IAAI,CAAC,WAAW,EAAE,KAAK,KAAK,CAAC,CAAC;QAChG,IAAI,KAAK;YAAE,OAAO,KAAK,CAAC,EAAE,CAAC;QAC3B,MAAM,OAAO,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,CAAC,WAAW,EAAE,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,WAAW,EAAE,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC;QAC9G,OAAO,OAAO,EAAE,EAAE,CAAC;IACrB,CAAC;IAAC,MAAM,CAAC;QACP,OAAO,SAAS,CAAC;IACnB,CAAC;AACH,CAAC;AAED;;;;;;;GAOG;AACH,SAAS,aAAa,CAAC,IAAc;IACnC,OAAO,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,qBAAqB,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,OAAO,CAAC,IAAI,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;AACnG,CAAC;AAED,MAAM,CAAC,KAAK,UAAU,gBAAgB,CAAC,MAA8B,EAAE,IAAqB;IAC1F,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,wBAAwB,CAAC,CAAC,CAAC;IAClD,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,GAAG,GAAG,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;IAE9C,IAAI,CAAC,IAAI,CAAC,IAAI,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,EAAE,EAAE,CAAC;QACpC,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,6CAA6C,CAAC,CAAC,CAAC;QACtE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,IAAI,IAAI,CAAC,GAAG,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;QAC/B,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,2DAA2D,CAAC,CAAC,CAAC;QACpF,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,MAAM,OAAO,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,KAAK,CAAC;IAErD,MAAM,GAAG,GAAG,MAAM,cAAc,CAAC,IAAI,CAAC,CAAC;IACvC,IAAI,CAAC,GAAG,CAAC,YAAY,EAAE,CAAC;QACtB,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,2HAA2H,CAAC,CAAC,CAAC;QACpJ,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,YAAY,GAAG,0BAA0B,CAAC,GAAG,CAAC,YAAY,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC;IAC9E,IAAI,YAAY,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,CAAC;QACrD,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,0GAA0G,CAAC,CAAC,CAAC;QACnI,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,OAAO,CAAC,GAAG,CAAC,gBAAgB,KAAK,CAAC,IAAI,CAAC,YAAY,CAAC,EAAE,CAAC,CAAC;IACxD,OAAO,CAAC,GAAG,CAAC,gBAAgB,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,GAAG,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC;IACpG,OAAO,CAAC,GAAG,CAAC,gBAAgB,KAAK,CAAC,IAAI,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;IACnD,OAAO,CAAC,GAAG,EAAE,CAAC;IAEd,MAAM,WAAW,GAAG,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,MAAM,mBAAmB,CAAC,YAAY,EAAE,IAAI,CAAC,IAAI,EAAE,GAAG,CAAC,KAAK,CAAC,CAAC;IAC5G,IAAI,WAAW,EAAE,CAAC;QAChB,OAAO,CAAC,GAAG,CAAC,gBAAgB,KAAK,CAAC,IAAI,CAAC,WAAW,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,2BAA2B,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,iBAAiB,CAAC,EAAE,CAAC,CAAC;IAClJ,CAAC;SAAM,CAAC;QACN,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,MAAM,CAAC,oCAAoC,IAAI,CAAC,IAAI,yEAAyE,CAAC,CAAC,CAAC;IACpJ,CAAC;IAED,IAAI,MAA4B,CAAC;IACjC,IAAI,CAAC;QACH,MAAM,GAAG,MAAM,mBAAmB,CAAC,YAAY,EAAE,IAAI,CAAC,IAAI,EAAE,WA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package/dist/robopark/audio-select.js

@@ -0,0 +1,128 @@
+/**
+ * RoboPark — explicit kiosk microphone/speaker selection.
+ *
+ * This adds no new API. The vision server already owns the media selection:
+ * `GET /api/media/inventory` lists the devices and `POST /api/media/config`
+ * sets `audio_device` / `audio_output_device`, forwarding both to
+ * audio_server_pi.py's own `/set-device`. The scheduler already stores the
+ * chosen values on the device row (`devices.audio_device`,
+ * `devices.audio_output_device`, both patchable via `PATCH /api/devices/<id>`).
+ *
+ * So `--mic` / `--speaker` only resolve a human-typed name or index against
+ * that inventory and drive the two endpoints that already exist; the scheduler
+ * device row is the persistence, which is what makes a rerun with no flags
+ * reapply the previous choice.
+ */
+import chalk from 'chalk';
+export async function fetchInventory(port) {
+    try {
+        const res = await fetch(`http://127.0.0.1:${port}/api/media/inventory`, {
+            signal: AbortSignal.timeout(5_000),
+        });
+        if (!res.ok)
+            return null;
+        return (await res.json());
+    }
+    catch {
+        return null;
+    }
+}
+/**
+ * Resolve `--mic ...` / `--speaker ...` to the id the vision server expects.
+ *
+ * A bare index is passed straight through: the inventory is the audio server's
+ * sounddevice list, and on a machine where that server is not running the list
+ * is empty but an index is still the right thing to persist. A name is matched
+ * case-insensitively, exact first, then unique substring — an ambiguous
+ * substring is an error rather than a coin flip, since picking the wrong
+ * microphone is silent and looks like a dead agent.
+ */
+export function resolveAudioDevice(wanted, choices, kind) {
+    const value = wanted.trim();
+    if (!value)
+        return {};
+    if (/^\d+$/.test(value)) {
+        const known = choices.find(c => String(c.id) === value);
+        return known
+            ? { id: value }
+            : { id: value, warning: `${kind} index ${value} is not in the vision server's inventory — applying it anyway` };
+    }
+    const lower = value.toLowerCase();
+    const exact = choices.filter(c => String(c.name).toLowerCase() === lower);
+    if (exact.length === 1)
+        return { id: String(exact[0].id) };
+    const partial = choices.filter(c => String(c.name).toLowerCase().includes(lower));
+    if (partial.length === 1)
+        return { id: String(partial[0].id) };
+    if (partial.length > 1) {
+        return { error: `"${value}" matches ${partial.length} ${kind}s: ${partial.map(c => `${c.id}=${c.name}`).join(', ')} — pass the index instead` };
+    }
+    const listed = choices.length
+        ? choices.map(c => `${c.id}=${c.name}`).join(', ')
+        : '(the vision server reported no audio devices; audio_server_pi.py is not running on this machine)';
+    return { error: `no ${kind} matches "${value}". Available: ${listed}` };
+}
+/** Push a selection at the vision server, which forwards it to the audio server. */
+export async function applyAudioSelection(port, selection) {
+    const body = {};
+    if (selection.audioDevice !== undefined)
+        body.audio_device = selection.audioDevice;
+    if (selection.audioOutputDevice !== undefined)
+        body.audio_output_device = selection.audioOutputDevice;
+    if (!Object.keys(body).length)
+        return true;
+    try {
+        const res = await fetch(`http://127.0.0.1:${port}/api/media/config`, {
+            method: 'POST',
+            headers: { 'content-type': 'application/json' },
+            body: JSON.stringify(body),
+            signal: AbortSignal.timeout(8_000),
+        });
+        return res.ok;
+    }
+    catch {
+        return false;
+    }
+}
+/**
+ * Turn the flags (or, with no flags, the values already stored on the device
+ * row) into a selection to apply.
+ *
+ * Throws on an unresolvable name: a kiosk that silently kept the Windows
+ * default after being told which microphone to use is the failure this flag
+ * exists to remove.
+ */
+export async function planAudioSelection(port, flags, stored) {
+    const selection = {};
+    if (!flags.mic && !flags.speaker) {
+        // No flags: reapply what a previous run persisted, so reruns are stable.
+        if (stored.audioDevice)
+            selection.audioDevice = String(stored.audioDevice);
+        if (stored.audioOutputDevice)
+            selection.audioOutputDevice = String(stored.audioOutputDevice);
+        return selection;
+    }
+    const inventory = (await fetchInventory(port)) ?? {};
+    if (inventory.audio_server && inventory.audio_server.online === false) {
+        console.log(chalk.yellow(`  ⚠ audio: the vision server cannot reach audio_server_pi.py (${inventory.audio_server.error ?? 'offline'})`));
+        console.log(chalk.dim('    the selection is still recorded and pushed, but nothing will switch devices until that server runs'));
+    }
+    if (flags.mic) {
+        const resolved = resolveAudioDevice(flags.mic, inventory.audio_input ?? [], 'microphone');
+        if (resolved.error)
+            throw new Error(resolved.error);
+        if (resolved.warning)
+            console.log(chalk.yellow(`  ⚠ ${resolved.warning}`));
+        selection.audioDevice = resolved.id;
+    }
+    if (flags.speaker) {
+        const resolved = resolveAudioDevice(flags.speaker, inventory.audio_output ?? [], 'speaker');
+        if (resolved.error)
+            throw new Error(resolved.error);
+        if (resolved.warning)
+            console.log(chalk.yellow(`  ⚠ ${resolved.warning}`));
+        selection.audioOutputDevice = resolved.id;
+    }
+    return selection;
+}
+//# sourceMappingURL=audio-select.js.map

package/dist/robopark/audio-select.js.map

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package/dist/robopark/device-preempt.js

@@ -0,0 +1,185 @@
+/**
+ * RoboPark — camera/microphone device preemption.
+ *
+ * On a kiosk the vision server is the sole owner of the capture devices. A USB
+ * camera on Windows cannot be opened twice, so any leftover holder makes the
+ * MJPEG generator yield nothing: Flask answers `/` with 200 while `/video_feed`
+ * never produces a first byte. That is the exact shape of the kongor failure
+ * this module exists to prevent.
+ *
+ * The selection is an ALLOWLIST, not a heuristic sweep. Only three families are
+ * ever targeted, and every one of them is something robopark itself started:
+ *   1. the vision/audio python servers, matched on their script filename;
+ *   2. a python process listening on the vision port;
+ *   3. a kiosk browser running out of a `~/.robopark/kiosk-*` profile directory,
+ *      which is the dedicated profile `kiosk-browser.ts` creates and nothing
+ *      else on the machine uses.
+ *
+ * Everything else is skipped and reported. Node processes are never candidates
+ * at all: a false positive here would take down the infinicode mesh node, the
+ * scheduler, or the control-center UI, which is far worse than a camera that
+ * fails to open.
+ */
+import { spawnSync } from 'node:child_process';
+/** Python scripts that open the camera or the audio devices. */
+const DEVICE_SCRIPTS = [
+    'app_pi_clean.py',
+    'audio_server_pi.py',
+    'vision_motion_trigger.py',
+];
+const PYTHON_IMAGE = /^(python|python3|pythonw)(\d(\.\d+)?)?(\.exe)?$/i;
+const BROWSER_IMAGE = /^(chrome|msedge|brave|chromium|chromium-browser|google-chrome|firefox|firefox-esr)(\.exe)?$/i;
+/**
+ * The kiosk profile directory `kiosk-browser.ts` builds
+ * (`~/.robopark/kiosk-<robot>-<family>`). Matching the path rather than the
+ * browser image is what separates the kiosk window from the operator's own
+ * browser, which must never be touched.
+ */
+const KIOSK_PROFILE = /[\\/]\.robopark[\\/]kiosk-/i;
+/**
+ * Processes that are never killed, whatever else they look like.
+ *
+ * These are the operator's tooling. `/T` is likewise never used anywhere in
+ * this module: killing a process tree has previously taken the infinicode mesh
+ * node down as collateral.
+ */
+const PROTECTED = [
+    { pattern: /infinicode/i, label: 'infinicode mesh node' },
+    { pattern: /robopark[\\/]scheduler|scheduler[\\/]main\.py|uvicorn/i, label: 'robopark scheduler' },
+    { pattern: /\bnext\b|frontend-service|robopark[\\/]ui/i, label: 'control-center UI' },
+    { pattern: /robopark-cli|[\\/]bin[\\/]robopark/i, label: 'robopark CLI' },
+];
+function protectedBy(cmd) {
+    return PROTECTED.find(entry => entry.pattern.test(cmd))?.label ?? null;
+}
+/** Every process on this machine, with its full command line. */
+export function listProcesses() {
+    if (process.platform === 'win32') {
+        const res = spawnSync('powershell', [
+            '-NoProfile',
+            '-NonInteractive',
+            '-Command',
+            'Get-CimInstance Win32_Process | Select-Object ProcessId,Name,CommandLine | ConvertTo-Json -Compress',
+        ], { encoding: 'utf8', maxBuffer: 32 * 1024 * 1024 });
+        if (res.status !== 0 || !res.stdout.trim())
+            return [];
+        try {
+            const parsed = JSON.parse(res.stdout);
+            const rows = Array.isArray(parsed) ? parsed : [parsed];
+            return rows.map(r => ({ pid: Number(r.ProcessId), name: String(r.Name ?? ''), cmd: String(r.CommandLine ?? '') }));
+        }
+        catch {
+            return [];
+        }
+    }
+    const res = spawnSync('ps', ['-eo', 'pid=,comm=,args='], { encoding: 'utf8', maxBuffer: 32 * 1024 * 1024 });
+    if (res.status !== 0)
+        return [];
+    return res.stdout
+        .split('\n')
+        .map(line => line.trim().match(/^(\d+)\s+(\S+)\s*(.*)$/))
+        .filter((m) => Boolean(m))
+        .map(m => ({ pid: Number(m[1]), name: m[2].split('/').pop() ?? m[2], cmd: m[3] }));
+}
+/** PIDs listening on `port`, whatever they are. */
+export function listenersOn(port) {
+    const pids = new Set();
+    if (process.platform === 'win32') {
+        const res = spawnSync('netstat', ['-ano', '-p', 'tcp'], { encoding: 'utf8', maxBuffer: 8 * 1024 * 1024 });
+        if (res.status !== 0)
+            return pids;
+        for (const line of res.stdout.split('\n')) {
+            if (!/LISTENING/i.test(line))
+                continue;
+            const parts = line.trim().split(/\s+/);
+            const local = parts[1] ?? '';
+            if (!local.endsWith(`:${port}`))
+                continue;
+            const pid = Number(parts[parts.length - 1]);
+            if (Number.isInteger(pid) && pid > 0)
+                pids.add(pid);
+        }
+        return pids;
+    }
+    const res = spawnSync('lsof', ['-nP', `-iTCP:${port}`, '-sTCP:LISTEN', '-t'], { encoding: 'utf8' });
+    if (res.status !== 0)
+        return pids;
+    for (const line of res.stdout.split('\n')) {
+        const pid = Number(line.trim());
+        if (Number.isInteger(pid) && pid > 0)
+            pids.add(pid);
+    }
+    return pids;
+}
+/**
+ * Decide, without killing anything, which processes hold the kiosk's devices.
+ *
+ * `skipped` only records processes that came close enough to matter — a
+ * protected process, or something on the vision port that is not ours. Listing
+ * every idle process would bury the two lines an operator needs to read.
+ */
+export function planPreemption(port, rows, listeners) {
+    const targets = [];
+    const skipped = [];
+    const self = new Set([process.pid, process.ppid]);
+    for (const row of rows) {
+        if (self.has(row.pid))
+            continue;
+        const script = DEVICE_SCRIPTS.find(s => row.cmd.includes(s));
+        const isPython = PYTHON_IMAGE.test(row.name);
+        const onPort = listeners.has(row.pid);
+        const kioskBrowser = BROWSER_IMAGE.test(row.name) && KIOSK_PROFILE.test(row.cmd);
+        let reason = null;
+        if (isPython && script)
+            reason = `vision/audio server (${script})`;
+        else if (isPython && onPort)
+            reason = `python listening on the vision port ${port}`;
+        else if (kioskBrowser)
+            reason = `robopark kiosk browser (~/.robopark/kiosk-* profile)`;
+        if (!reason) {
+            // Anything else holding the vision port is reported but not killed: it is
+            // not a process robopark started, so it is not ours to terminate.
+            if (onPort) {
+                skipped.push({ pid: row.pid, name: row.name, reason: `holds port ${port} but is not a robopark python server — not killing; stop it yourself if the feed stays dead` });
+            }
+            continue;
+        }
+        const guard = protectedBy(row.cmd);
+        if (guard) {
+            skipped.push({ pid: row.pid, name: row.name, reason: `looks like a device holder but is protected (${guard}) — skipped` });
+            continue;
+        }
+        targets.push({ pid: row.pid, name: row.name, reason });
+    }
+    return { targets, skipped };
+}
+/** Kill one pid. Never `/T`: that would take the process's children with it. */
+function killPid(pid) {
+    if (process.platform === 'win32') {
+        const res = spawnSync('taskkill', ['/PID', String(pid), '/F'], { encoding: 'utf8' });
+        return { ok: res.status === 0, detail: String(res.stderr || res.stdout || '').trim() };
+    }
+    try {
+        process.kill(pid, 'SIGTERM');
+        return { ok: true, detail: '' };
+    }
+    catch (err) {
+        return { ok: false, detail: err instanceof Error ? err.message : String(err) };
+    }
+}
+export function preemptDevices(port, opts = {}) {
+    const plan = planPreemption(port, listProcesses(), listenersOn(port));
+    const killed = [];
+    const failed = [];
+    if (opts.dryRun)
+        return { ...plan, killed, failed };
+    for (const target of plan.targets) {
+        const res = killPid(target.pid);
+        if (res.ok)
+            killed.push(target);
+        else
+            failed.push({ ...target, detail: res.detail || 'taskkill failed' });
+    }
+    return { ...plan, killed, failed };
+}
+//# sourceMappingURL=device-preempt.js.map

package/dist/robopark/device-preempt.js.map

@@ -0,0 +1 @@
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package/dist/robopark/kiosk-browser.js

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+/**
+ * RoboPark — kiosk browser launch.
+ *
+ * `robopark start <robot>` has to end with the live call page actually open on
+ * the kiosk, with the camera and microphone already granted: there is nobody
+ * standing at the machine to click "Allow".
+ *
+ * The POSIX installers (scripts/install-firefox-robot-kiosk.sh,
+ * ui/standalone/public/install-robot-kiosk.sh) do this with a root-installed
+ * Firefox policies.json that pre-grants Camera/Microphone for one origin and
+ * unblocks autoplay. That needs sudo and a writable install directory, neither
+ * of which exists on the Windows kiosks, so the same grants are expressed here
+ * per-browser-family and per-launch instead:
+ *   - Chromium family: --use-fake-ui-for-media-stream (auto-accept getUserMedia
+ *     against the REAL devices; the "fake" is the picker UI, not the camera)
+ *     plus --autoplay-policy=no-user-gesture-required.
+ *   - Firefox: a dedicated profile whose user.js sets
+ *     permissions.default.camera/microphone=1 and the same autoplay prefs the
+ *     policy file locks.
+ */
+import { spawn } from 'node:child_process';
+import { existsSync, mkdirSync, writeFileSync } from 'node:fs';
+import { homedir } from 'node:os';
+import { join } from 'node:path';
+const WINDOWS_CANDIDATES = [
+    'C:\\Program Files (x86)\\Microsoft\\Edge\\Application\\msedge.exe',
+    'C:\\Program Files\\Microsoft\\Edge\\Application\\msedge.exe',
+    'C:\\Program Files\\Google\\Chrome\\Application\\chrome.exe',
+    'C:\\Program Files (x86)\\Google\\Chrome\\Application\\chrome.exe',
+    'C:\\Program Files\\BraveSoftware\\Brave-Browser\\Application\\brave.exe',
+    'C:\\Program Files\\Chromium\\Application\\chrome.exe',
+    'C:\\Program Files\\Mozilla Firefox\\firefox.exe',
+    'C:\\Program Files (x86)\\Mozilla Firefox\\firefox.exe',
+];
+const POSIX_CANDIDATES = [
+    '/usr/bin/chromium-browser',
+    '/usr/bin/chromium',
+    '/usr/bin/google-chrome',
+    '/usr/bin/microsoft-edge',
+    '/Applications/Google Chrome.app/Contents/MacOS/Google Chrome',
+    '/usr/bin/firefox',
+    '/usr/bin/firefox-esr',
+    '/Applications/Firefox.app/Contents/MacOS/firefox',
+];
+export function browserFamily(exe) {
+    return /firefox/i.test(exe) ? 'firefox' : 'chromium';
+}
+/** First installed kiosk-capable browser, or null. Chromium family wins: its
+ *  permission grants are per-launch flags and need no elevation. */
+export function findBrowser(override) {
+    if (override)
+        return existsSync(override) ? override : null;
+    const fromEnv = process.env.ROBOPARK_BROWSER;
+    if (fromEnv && existsSync(fromEnv))
+        return fromEnv;
+    const candidates = process.platform === 'win32' ? WINDOWS_CANDIDATES : POSIX_CANDIDATES;
+    return candidates.find(existsSync) ?? null;
+}
+function originOf(url) {
+    try {
+        return new URL(url).origin;
+    }
+    catch {
+        return '';
+    }
+}
+/**
+ * getUserMedia is unavailable on a plain-http origin that is not loopback, so a
+ * hub reached as http://HUB:8080 can never grant the camera no matter how the
+ * permission is pre-set. Chromium's origin allowlist is the only way to make
+ * that origin a secure context without a certificate.
+ */
+function needsInsecureOriginOverride(url) {
+    try {
+        const parsed = new URL(url);
+        if (parsed.protocol !== 'http:')
+            return false;
+        return !['localhost', '127.0.0.1', '::1', ''].includes(parsed.hostname);
+    }
+    catch {
+        return false;
+    }
+}
+function firefoxProfile(dir, url) {
+    mkdirSync(dir, { recursive: true });
+    const prefs = [
+        ['permissions.default.camera', '1'],
+        ['permissions.default.microphone', '1'],
+        ['media.autoplay.default', '0'],
+        ['media.autoplay.blocking_policy', '0'],
+        ['media.navigator.permission.disabled', 'true'],
+        // Same reason as the Chromium allowlist above: without these a plain-http
+        // hub origin has no navigator.mediaDevices at all.
+        ['media.devices.insecure.enabled', needsInsecureOriginOverride(url) ? 'true' : 'false'],
+        ['media.getusermedia.insecure.enabled', needsInsecureOriginOverride(url) ? 'true' : 'false'],
+        ['browser.shell.checkDefaultBrowser', 'false'],
+        ['datareporting.policy.firstRunURL', '""'],
+    ];
+    writeFileSync(join(dir, 'user.js'), prefs.map(([k, v]) => `user_pref("${k}", ${v});`).join('\n') + '\n', 'utf8');
+}
+/**
+ * The exact executable + argv for a kiosk call page, without spawning.
+ *
+ * Split out so the command line can be printed and reviewed; `launchKiosk`
+ * only adds the spawn.
+ */
+export function kioskLaunch(exe, url, robot) {
+    const family = browserFamily(exe);
+    const profileDir = join(homedir(), '.robopark', `kiosk-${robot.replace(/[^a-zA-Z0-9_-]/g, '_')}-${family}`);
+    if (family === 'firefox') {
+        return { exe, args: ['-profile', profileDir, '--kiosk', url], family, profileDir };
+    }
+    const args = [
+        // A dedicated profile is load-bearing, not hygiene: launching Chromium
+        // while the operator's normal browser is running otherwise just hands the
+        // URL to that process and every permission flag below is silently dropped.
+        `--user-data-dir=${profileDir}`,
+        '--use-fake-ui-for-media-stream',
+        '--autoplay-policy=no-user-gesture-required',
+        '--no-first-run',
+        '--no-default-browser-check',
+        '--disable-session-crashed-bubble',
+        '--kiosk',
+    ];
+    if (needsInsecureOriginOverride(url)) {
+        args.push(`--unsafely-treat-insecure-origin-as-secure=${originOf(url)}`);
+    }
+    args.push(url);
+    return { exe, args, family, profileDir };
+}
+/** Shell-ish rendering of a launch, for logging. */
+export function launchCommandLine(launch) {
+    return [launch.exe, ...launch.args]
+        .map(a => (/[\s"]/.test(a) ? `"${a.replace(/"/g, '\\"')}"` : a))
+        .join(' ');
+}
+export function launchKiosk(launch, url) {
+    if (launch.family === 'firefox')
+        firefoxProfile(launch.profileDir, url);
+    else
+        mkdirSync(launch.profileDir, { recursive: true });
+    const proc = spawn(launch.exe, launch.args, { stdio: 'ignore', detached: true });
+    proc.unref();
+}
+//# sourceMappingURL=kiosk-browser.js.map

package/dist/robopark/kiosk-browser.js.map

@@ -0,0 +1 @@
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