robopark 3.3.36 → 3.3.38

package/dist/robopark-cli.js.map

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

@@ -1,6 +1,6 @@
 {
   "name": "robopark",
-  "version": "3.3.36",
+  "version": "3.3.38",
   "description": "RoboPark fleet control CLI — scheduler, control UI, and character voice calls. Standalone: no infinicode runtime.",
   "type": "module",
   "bin": {
@@ -9,14 +9,18 @@
   "main": "./dist/robopark-cli.js",
   "scripts": {
     "build": "tsc -p tsconfig.json",
-    "prepublishOnly": "npm run build",
-    "check": "tsc -p tsconfig.json --noEmit"
+    "build:ui-bundle": "node scripts/build-bundle.mjs",
+    "build:release": "npm run build && npm run build:ui-bundle",
+    "check": "tsc -p tsconfig.json --noEmit",
+    "check:join-page-drift": "node scripts/check-join-page-drift.mjs",
+    "prepublishOnly": "npm run build:release && npm run check:join-page-drift"
   },
   "files": [
     "bin",
     "dist",
     "ui",
     "scheduler",
+    "!scheduler/__pycache__",
     "pi-client",
     "vision",
     "conversation",

package/scheduler/main.py

@@ -1214,6 +1214,69 @@ ACTIVE_SESSION_LEASE_SECONDS = max(
 )
 
 
+# Cached LiveKit room census, used as independent proof of liveness.
+#
+# last_activity_at is refreshed by exactly two callers: the browser join page's
+# 30s /heartbeat and the voice agent's /keepalive. Both are best-effort HTTP
+# from a client we do not control -- a throttled background tab, a proxy hiccup
+# or an agent that never integrated /keepalive all produce a silent clock while
+# the call is plainly still up. Treating that silence as proof of death is what
+# tore down live sessions. LiveKit itself knows who is connected, so ask it
+# before reaping. Cached because health_checker walks every session-holding
+# robot each tick and this is a network round trip.
+_LK_ROOM_CENSUS: Dict[str, Any] = {"at": 0.0, "counts": None}
+_LK_ROOM_CENSUS_TTL = 5.0
+
+
+async def _live_room_participants() -> Optional[Dict[str, int]]:
+    """{room_name: participant_count} from LiveKit, or None if it cannot be asked.
+
+    None means "no evidence", NOT "empty": callers must fall back to the lease
+    rather than assume death, otherwise a misconfigured or unreachable LiveKit
+    would keep every session alive forever (or, inverted, kill them all).
+    """
+    now = time.monotonic()
+    if _LK_ROOM_CENSUS["counts"] is not None and now - _LK_ROOM_CENSUS["at"] < _LK_ROOM_CENSUS_TTL:
+        return _LK_ROOM_CENSUS["counts"]
+    if _LK_ROOM_CENSUS["counts"] is None and now - _LK_ROOM_CENSUS["at"] < _LK_ROOM_CENSUS_TTL:
+        return None  # negative cache: do not hammer a down/unconfigured server
+
+    counts: Optional[Dict[str, int]] = None
+    client = None
+    try:
+        from livekit import api as lkapi
+        url, key, sec = await _lk_credentials()
+        client = lkapi.LiveKitAPI(re.sub(r"^ws", "http", url or ""), key, sec)
+        result = await client.room.list_rooms(lkapi.ListRoomsRequest())
+        counts = {
+            str(getattr(room, "name", "") or ""): int(getattr(room, "num_participants", 0) or 0)
+            for room in (getattr(result, "rooms", []) or [])
+        }
+    except Exception as exc:
+        logger.debug("LiveKit room census unavailable: %s", exc)
+        counts = None
+    finally:
+        if client is not None:
+            try:
+                await client.aclose()
+            except Exception:
+                pass
+
+    _LK_ROOM_CENSUS["at"] = time.monotonic()
+    _LK_ROOM_CENSUS["counts"] = counts
+    return counts
+
+
+async def _room_has_participants(room_name: Optional[str]) -> Optional[bool]:
+    """True/False if LiveKit answered, None if there is no evidence either way."""
+    if not room_name:
+        return None
+    counts = await _live_room_participants()
+    if counts is None:
+        return None
+    return counts.get(str(room_name), 0) > 0
+
+
 async def _reap_robot_session_if_stale(db, robot_id: str, current_session_id: Optional[str],
                                        robot_status: Optional[str] = None) -> Optional[str]:
     """Release an invalid or expired session pointer without operator action."""
@@ -1221,7 +1284,7 @@ async def _reap_robot_session_if_stale(db, robot_id: str, current_session_id: Op
         return None
 
     async with db.execute(
-        "SELECT id, started_at, last_activity_at, ended_at FROM sessions WHERE id = ?",
+        "SELECT id, started_at, last_activity_at, ended_at, room_name FROM sessions WHERE id = ?",
         (current_session_id,),
     ) as cursor:
         session = await cursor.fetchone()
@@ -1243,6 +1306,21 @@ async def _reap_robot_session_if_stale(db, robot_id: str, current_session_id: Op
             else ACTIVE_SESSION_LEASE_SECONDS
         )
         if activity_age >= lease:
+            # The lease expired, which only means nobody BEAT -- not that nobody
+            # is on the call. Ask LiveKit before tearing anything down. If the
+            # room still has participants the session is demonstrably live, so
+            # adopt the room as a liveness source and refresh the clock; the
+            # robot pointer stays set, which is also what keeps the device out
+            # of health_checker's offline sweep. An empty room, or a room that
+            # no longer exists, is real evidence of death and reaps on time. No
+            # answer at all falls through to the lease exactly as before, so a
+            # LiveKit outage cannot pin a robot forever.
+            if await _room_has_participants(session["room_name"]):
+                await db.execute(
+                    "UPDATE sessions SET last_activity_at = ? WHERE id = ? AND ended_at IS NULL",
+                    (datetime.utcnow().isoformat(), current_session_id),
+                )
+                return None
             reason = "stale_connecting" if robot_status == "connecting" else "stale_activity"
 
     if not reason:
@@ -2011,9 +2089,17 @@ async def _claim_character_device(
     await db.commit()
     for twin in twins:
         await broadcast("device_status_changed", {"device_id": twin, "status": "offline"})
-    # No MJPEG ref: a claimed device publishes its own browser camera rather than
-    # exposing a robot-side vision server, so the page falls back to local video.
-    return device_id, None
+    # Hand back an MJPEG ref so the camera grid prefers
+    # /fed/media/robots/<device>/video_feed over the LiveKit publisher.
+    #
+    # Withholding it forced every claimed device onto the publisher path, which
+    # needs a token, a room name, and a WebSocket that a publisher and a
+    # subscriber both agree on — and it broke at each of those in turn. The
+    # MJPEG relay is one plain HTTP stream with none of those parts, so it is
+    # the path with the fewest ways to fail. When no vision server answers on
+    # the robot the relay simply 502s and the page still falls back to local
+    # video, so this costs nothing where the old comment held.
+    return device_id, device_id
 
 
 @app.post("/api/sessions/voice-call")
@@ -3287,31 +3373,15 @@ async def health_checker():
                             "status": new_status
                         })
 
-                # Mark devices offline if the heartbeat is stale.
-                #
-                # 90s, not 30s: the browser join page beats every 30s, so a 30s
-                # cutoff has no margin at all and any jitter reaps a healthy
-                # device. And a browser call has no device-heartbeat route to
-                # call in the first place — create_voice_call sets the device
-                # online once and nothing refreshes it — so a device holding a
-                # LIVE session is never stale by this rule. Reaping it mid-call
-                # is what dropped robots to offline on the park map while the
-                # call was still running.
-                cutoff = (datetime.utcnow() - timedelta(seconds=90)).isoformat()
-                async with db.execute(
-                    "SELECT id, status FROM devices WHERE status = 'online' "
-                    "AND (last_heartbeat IS NULL OR last_heartbeat < ?) "
-                    "AND id NOT IN ("
-                    "  SELECT r.id FROM robots r"
-                    "  LEFT JOIN sessions s ON s.id = r.current_session_id"
-                    "  WHERE r.current_session_id IS NOT NULL AND s.ended_at IS NULL"
-                    ")",
-                    (cutoff,),
-                ) as c:
-                    stale = await c.fetchall()
-                for (did, _st) in stale:
-                    await db.execute("UPDATE devices SET status = 'offline' WHERE id = ?", (did,))
-                    await broadcast("device_status_changed", {"device_id": did, "status": "offline"})
+                # Session reaping runs BEFORE the device sweep, and the device
+                # sweep keys off live session ROWS rather than the robot pointer.
+                # The old order did the opposite and the two rules formed a
+                # cascade: the pointer reaper cleared robots.current_session_id,
+                # which silently dropped the device out of the sweep's exclusion,
+                # so one missed beat cost a robot both its session AND its
+                # online status a tick later. Ending the session first means the
+                # sweep sees the same facts the reaper just decided on, in one
+                # pass, instead of acting on last tick's half-updated state.
 
                 # Release stale robot session pointers with the same lease rules
                 # used by the trigger path. Failed joins cannot require manual
@@ -3332,17 +3402,29 @@ async def health_checker():
                         })
 
                 # Reap old orphan rows that are no longer owned by a robot.
+                # Browser calls land here permanently: create_web_session writes
+                # robot_id='web-client', for which no robots row exists, so this
+                # rule -- not the pointer reaper above -- is the one that ends
+                # them. It needs the same room evidence, or a browser call whose
+                # beats stop arriving is killed on the lease while the room is
+                # still full.
                 session_cutoff = (
                     datetime.utcnow() - timedelta(seconds=ACTIVE_SESSION_LEASE_SECONDS)
                 ).isoformat()
                 async with db.execute(
-                    "SELECT id, robot_id FROM sessions "
+                    "SELECT id, robot_id, room_name FROM sessions "
                     "WHERE ended_at IS NULL AND COALESCE(last_activity_at, started_at) < ? "
                     "AND NOT EXISTS (SELECT 1 FROM robots r WHERE r.current_session_id = sessions.id)",
                     (session_cutoff,),
                 ) as c:
                     stale_sessions = await c.fetchall()
                 for session in stale_sessions:
+                    if await _room_has_participants(session["room_name"]):
+                        await db.execute(
+                            "UPDATE sessions SET last_activity_at = ? WHERE id = ? AND ended_at IS NULL",
+                            (datetime.utcnow().isoformat(), session["id"]),
+                        )
+                        continue
                     await db.execute(
                         "UPDATE sessions SET ended_at = ?, end_reason = 'stale_orphan' "
                         "WHERE id = ? AND ended_at IS NULL",
@@ -3359,6 +3441,44 @@ async def health_checker():
                             "reason": "stale_orphan",
                     })
 
+                # Mark devices offline if the heartbeat is stale.
+                #
+                # 90s, not 30s: the browser join page beats every 30s, so a 30s
+                # cutoff has no margin at all and any jitter reaps a healthy
+                # device. And a browser call has no device-heartbeat route to
+                # call in the first place — create_voice_call sets the device
+                # online once and nothing refreshes it — so a device with a LIVE
+                # session is never stale by this rule. Reaping it mid-call is
+                # what dropped robots to offline on the park map while the call
+                # was still running.
+                #
+                # The exclusion matches session ROWS by robot_id, not the
+                # robots.current_session_id pointer. Claim devices and browser
+                # calls may hold a live session with no robots row at all (or
+                # with a pointer a reaper already released), and the old
+                # pointer-shaped subquery excluded neither — it left exactly the
+                # devices in an active call eligible for the offline sweep. Any
+                # session that has genuinely finished is ended above in this same
+                # pass, so nothing keeps a device online past its own cleanup.
+                cutoff = (datetime.utcnow() - timedelta(seconds=90)).isoformat()
+                async with db.execute(
+                    "SELECT id, status FROM devices WHERE status = 'online' "
+                    "AND (last_heartbeat IS NULL OR last_heartbeat < ?) "
+                    "AND id NOT IN ("
+                    "  SELECT s.robot_id FROM sessions s"
+                    "  WHERE s.ended_at IS NULL AND s.robot_id IS NOT NULL"
+                    "  UNION"
+                    "  SELECT r.id FROM robots r"
+                    "  LEFT JOIN sessions rs ON rs.id = r.current_session_id"
+                    "  WHERE r.current_session_id IS NOT NULL AND rs.ended_at IS NULL"
+                    ")",
+                    (cutoff,),
+                ) as c:
+                    stale = await c.fetchall()
+                for (did, _st) in stale:
+                    await db.execute("UPDATE devices SET status = 'offline' WHERE id = ?", (did,))
+                    await broadcast("device_status_changed", {"device_id": did, "status": "offline"})
+
                 await db.commit()
         
         except Exception as e:

package/scheduler/static/voice-join.html

@@ -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,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='';
+  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')||'',cameraOff=q.get('camera')==='off',visionBase=(q.get('vision_base')||'http://127.0.0.1:5000').replace(/\/+$/,''),kioskRemoteBusy=false,kioskRemoteFail=0,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.
@@ -56,7 +56,11 @@
   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;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(){var pendingCameraRoom=null;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();pendingCameraRoom=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(pendingCameraRoom&&pendingCameraRoom.disconnect)pendingCameraRoom.disconnect(true)}catch(_){}pendingCameraRoom=null;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})}
+  // camera=off: the RoboPark vision server is the sole owner of this kiosk's
+  // camera, and the control centre watches its MJPEG stream rather than a
+  // browser LiveKit publisher. A second opener of a USB camera just fails on
+  // Windows, so the page must not call getUserMedia({video}) at all.
+  function startLocalVideo(){if(cameraOff)return Promise.resolve();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
   // frame is captioned server-side and the sentence is injected silently — a real
@@ -156,6 +160,44 @@
     var total=0;for(i=0;i<count;i++)total+=Math.abs(levels[i]-previous[i]);
     return total/count/255;
   }
+  function kioskStartRemote(){
+    kioskPrev=null;kioskLastSample=0;kioskLastSeen=0;kioskArmedAt=Date.now()+3000;kioskRemoteFail=0;
+    kioskWatch=setInterval(kioskRemoteTick,Math.max(1000,motionInterval));
+    kioskIdle=setInterval(kioskIdleTick,1000);
+    event('kiosk_armed','ok','Motion-gated calling armed via the vision server',{source:visionBase,silence_ms:kioskSilence,rearm_ms:kioskRearm});
+    text('state','watching for visitors');
+    return Promise.resolve();
+  }
+  function kioskRemoteTick(){
+    if(!kioskOn||desired||conversation||connecting||ending)return;
+    if(kioskRemoteBusy)return;
+    var now=Date.now();
+    if(now<kioskArmedAt)return;
+    kioskRemoteBusy=true;
+    fetch(visionBase+'/api/motion/status',{cache:'no-store'}).then(function(response){
+      if(!response.ok)throw new Error('motion status '+response.status);
+      return response.json();
+    }).then(function(status){
+      kioskRemoteBusy=false;
+      if(kioskRemoteFail){event('kiosk_armed','ok','Vision server motion status reachable again',{source:visionBase});kioskRemoteFail=0}
+      // The vision server is armed and detecting on its own; this only has to
+      // notice the flag and apply the same rearm gate the local watcher uses.
+      if(!status||!status.motion_detected)return;
+      if(!kioskOn||desired||conversation||connecting||ending)return;
+      var at=Date.now();
+      if(at<kioskArmedAt)return;
+      if(kioskLastSeen&&at-kioskLastSeen<kioskRearm){kioskLastSeen=at;return}
+      kioskLastSeen=at;
+      kioskCalls++;
+      event('kiosk_call','ok','Motion started a call',{call_number:kioskCalls,source:'vision_server'});
+      text('state','someone approached - connecting');
+      start();
+    }).catch(function(error){
+      kioskRemoteBusy=false;
+      // Say it once. Silence here is indistinguishable from "nobody is there".
+      if(!kioskRemoteFail){kioskRemoteFail=1;event('kiosk_armed','warn','Cannot read motion from the vision server; motion calls are inactive',{source:visionBase,error:error&&error.message||String(error)})}
+    });
+  }
   function kioskWatchTick(){
     // Only watches between calls. While one is live the in-call motion triggers
     // and the silence watchdog are in charge.
@@ -190,6 +232,10 @@
   function kioskNote(){kioskActivityAt=Date.now()}
   function kioskStart(){
     if(kioskWatch)return Promise.resolve();
+    // camera=off: take the motion trigger from the vision server that owns the
+    // camera (app_pi_clean.py's frame-differencing loop, armed by
+    // --motion-active) instead of opening a second capture the OS refuses.
+    if(cameraOff)return kioskStartRemote();
     return navigator.mediaDevices.getUserMedia({video:cameraDeviceId?{deviceId:{exact:cameraDeviceId}}:true})
       .then(function(stream){
         kioskStream=stream;

package/ui/standalone/.next/BUILD_ID

@@ -1 +1 @@
-ULHwbueNr3RGevy8FSrTW
+2zW74Q0KZAsncyNMwT9yQ