robopark 3.3.37 → 3.3.38

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/start.js

@@ -17,6 +17,8 @@
 import { hostname } from 'node:os';
 import chalk from 'chalk';
 import { robotReachableSchedulerUrl, schedulerApiUrl } from './add-robot.js';
+import { applyAudioSelection, planAudioSelection } from './audio-select.js';
+import { preemptDevices } from './device-preempt.js';
 import { findBrowser, kioskLaunch, launchCommandLine, launchKiosk } from './kiosk-browser.js';
 import { loadHubProfile } from './profile.js';
 import { resolveTailnet } from './tailscale.js';
@@ -29,19 +31,32 @@ const READY_TIMEOUT_MS = 30_000;
 const READY_POLL_MS = 1_000;
 const sleep = (ms) => new Promise(resolve => setTimeout(resolve, ms));
 /**
- * True once the local vision server actually answers on /video_feed.
+ * True once the local vision server actually delivers a frame on /video_feed.
  *
- * The body is an endless multipart stream, so it must be cancelled rather than
- * read: awaiting it would never resolve and the probe would look like a hang
- * instead of a success.
+ * Response headers are NOT enough: when the capture device cannot be opened,
+ * Flask still streams a multipart body whose generator never yields, so a
+ * 200 here can coexist with a completely dead camera. Requiring one real chunk
+ * is what makes "ready" mean the camera works. The body is an endless stream,
+ * so the reader is cancelled rather than drained — awaiting it would never
+ * resolve and the probe would look like a hang instead of a success.
  */
 async function feedReady(port) {
     const controller = new AbortController();
     const timer = setTimeout(() => controller.abort(), 4_000);
     try {
         const res = await fetch(`http://127.0.0.1:${port}/video_feed`, { signal: controller.signal });
-        await res.body?.cancel();
-        return res.ok;
+        if (!res.ok || !res.body) {
+            await res.body?.cancel();
+            return false;
+        }
+        const reader = res.body.getReader();
+        try {
+            const { value, done } = await reader.read();
+            return !done && Boolean(value?.length);
+        }
+        finally {
+            await reader.cancel().catch(() => { });
+        }
     }
     catch {
         return false;
@@ -50,14 +65,69 @@ async function feedReady(port) {
         clearTimeout(timer);
     }
 }
+/** True once Flask itself answers, whatever the camera is doing. */
+async function serverAlive(port) {
+    try {
+        const res = await fetch(`http://127.0.0.1:${port}/`, { signal: AbortSignal.timeout(3_000) });
+        await res.body?.cancel();
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
+/** The vision server's own view of the capture device, for the failure message. */
+async function cameraStatus(port) {
+    try {
+        const res = await fetch(`http://127.0.0.1:${port}/api/camera/status`, { signal: AbortSignal.timeout(3_000) });
+        if (!res.ok)
+            return `HTTP ${res.status}`;
+        const status = (await res.json());
+        return `device=${status.device ?? '?'} open=${status.open ? 'yes' : 'no'}${status.read_stalled ? ' read=stalled' : ''}`;
+    }
+    catch {
+        return 'unavailable';
+    }
+}
+/**
+ * Distinguish "nothing is listening" from "Flask is up but the camera yields
+ * nothing" — the kongor failure, where `/` answered 200 and `/video_feed`
+ * answered nothing at all. Reporting both as "the vision server never
+ * answered" sent the operator looking for a process that was in fact running.
+ */
 async function waitForFeed(port) {
     const deadline = Date.now() + READY_TIMEOUT_MS;
+    let everAlive = false;
     while (Date.now() < deadline) {
         if (await feedReady(port))
-            return true;
+            return 'ready';
+        if (!everAlive && (await serverAlive(port)))
+            everAlive = true;
         await sleep(READY_POLL_MS);
     }
-    return false;
+    return everAlive ? 'camera-dead' : 'down';
+}
+/**
+ * Wait for the local feed; return null when ready, else the operator-facing
+ * reason it is not.
+ *
+ * Kept separate from the caller so the two failures can be told apart in the
+ * message: everything an operator would do about a server that never started
+ * is the wrong move for a server that is up with a dead camera.
+ */
+export async function awaitVisionReady(port) {
+    const readiness = await waitForFeed(port);
+    if (readiness === 'ready')
+        return null;
+    if (readiness === 'camera-dead') {
+        return (`vision server up but camera not producing frames: http://127.0.0.1:${port}/ answers, ` +
+            `but /video_feed yielded nothing within ${READY_TIMEOUT_MS / 1000}s (camera status: ${await cameraStatus(port)}). ` +
+            'Another process is probably still holding the camera, or the selected device is wrong — ' +
+            `check http://127.0.0.1:${port}/api/media/inventory, make sure you did not pass --no-preempt, ` +
+            "and rerun with --foreground to see the server's output");
+    }
+    return (`the vision server never started: nothing answered http://127.0.0.1:${port}/ within ${READY_TIMEOUT_MS / 1000}s — ` +
+        'rerun with --foreground to see why the python process exited');
 }
 /**
  * This machine's mesh identity, or null when no node is listening.
@@ -161,6 +231,43 @@ async function registerDevice(schedulerUrl, name, host, token) {
     }
     return { ...(device ?? { name }), id: deviceId };
 }
+/**
+ * Apply `--mic` / `--speaker` (or, with neither, whatever a previous run
+ * persisted on the device row) to the vision server, and persist an explicit
+ * choice back to the scheduler so the next run reapplies it without the flags.
+ */
+async function selectAudio(schedulerUrl, port, device, opts, token) {
+    const explicit = Boolean(opts.mic || opts.speaker);
+    const selection = await planAudioSelection(port, { mic: opts.mic, speaker: opts.speaker }, { audioDevice: device.audio_device, audioOutputDevice: device.audio_output_device });
+    if (!selection.audioDevice && !selection.audioOutputDevice) {
+        console.log(chalk.dim('  audio: no explicit device selected — the vision server keeps the system default'));
+        console.log(chalk.dim('    pin one with `robopark start <robot> --mic <name|index> --speaker <name|index>`'));
+        return;
+    }
+    const applied = await applyAudioSelection(port, selection);
+    const described = [
+        selection.audioDevice !== undefined ? `mic=${selection.audioDevice}` : null,
+        selection.audioOutputDevice !== undefined ? `speaker=${selection.audioOutputDevice}` : null,
+    ].filter(Boolean).join(' ');
+    if (applied)
+        console.log(chalk.green(`  ✓ audio devices selected (${described})${explicit ? '' : ' — restored from the device record'}`));
+    else
+        console.log(chalk.yellow(`  ⚠ the vision server did not accept the audio selection (${described})`));
+    if (!explicit)
+        return;
+    const patched = await fetch(schedulerApiUrl(schedulerUrl, `/api/devices/${encodeURIComponent(device.id)}`, token), {
+        method: 'PATCH',
+        headers: { 'content-type': 'application/json' },
+        body: JSON.stringify({
+            audio_device: selection.audioDevice,
+            audio_output_device: selection.audioOutputDevice,
+        }),
+    });
+    if (patched.ok)
+        console.log(chalk.dim('    persisted on the scheduler device record — reruns need no flags'));
+    else
+        console.log(chalk.yellow(`    ⚠ could not persist the audio selection: HTTP ${patched.status}`));
+}
 /**
  * The character this kiosk should answer as.
  *
@@ -205,7 +312,18 @@ async function openKiosk(schedulerUrl, browserBase, name, device, opts, token) {
     // mode=production ties the call to this device so the scheduler attaches the
     // robot's video ref; kiosk=1 arms the page's motion trigger, which is what
     // starts a conversation with nobody available to press "Join".
-    const url = characterCallUrl(browserBase, preset, 'production', { robot: device.id, kiosk: '1' });
+    //
+    // camera=off is what keeps this page off the capture device entirely: the
+    // vision server owns it, the control-center feed is its MJPEG stream, and a
+    // browser getUserMedia({video}) here would either fail or steal the camera
+    // back. The page then takes its motion trigger from the vision server's own
+    // /api/motion/status instead of a local camera.
+    const url = characterCallUrl(browserBase, preset, 'production', {
+        robot: device.id,
+        kiosk: '1',
+        camera: 'off',
+        vision_base: `http://127.0.0.1:${opts.port ?? DEFAULT_VISION_PORT}`,
+    });
     console.log(`  call page:      ${chalk.cyan(url)}`);
     if (opts.browser === false) {
         console.log(chalk.dim('  browser: --no-browser given — open the link above on the kiosk yourself'));
@@ -262,10 +380,51 @@ export async function roboparkStart(config, name, opts) {
         await ensureMesh(config, name, profile.token);
     else
         console.log(chalk.dim('  mesh: skipped (video does not need it) — pass --mesh to enroll'));
-    let running = null;
     // A prior run (or --mesh enrollment, which starts the robot runtime) often
     // left the feed already live, so there may be nothing left to launch.
-    if (await feedReady(port)) {
+    const alreadyLive = await feedReady(port);
+    // The vision server is the sole owner of this kiosk's camera and microphone.
+    // A USB camera on Windows cannot be opened twice, so a leftover holder — a
+    // previous vision agent, or the kiosk browser this command itself launched
+    // last run — is exactly what makes /video_feed answer nothing.
+    //
+    // A feed that is already producing frames proves nothing is competing, so it
+    // is left strictly alone: preempting there would kill a working camera and
+    // restart it for no reason.
+    if (opts.preempt === false) {
+        console.log(chalk.dim('  preempt: skipped (--no-preempt) — a leftover camera holder will block the feed'));
+    }
+    else if (alreadyLive && !opts.preemptDryRun) {
+        console.log(chalk.dim('  preempt: skipped — the feed is already producing frames, so nothing is competing'));
+    }
+    else {
+        const dryRun = Boolean(opts.preemptDryRun);
+        const result = preemptDevices(port, { dryRun });
+        console.log(chalk.dim(`  preempt: ${dryRun ? 'DRY RUN — nothing will be killed' : 'terminating competing camera/audio holders'}`));
+        for (const target of result.targets) {
+            console.log(dryRun
+                ? chalk.yellow(`    would kill pid ${target.pid} ${target.name} — ${target.reason}`)
+                : chalk.dim(`    target pid ${target.pid} ${target.name} — ${target.reason}`));
+        }
+        for (const skip of result.skipped) {
+            console.log(chalk.yellow(`    skipped pid ${skip.pid} ${skip.name} — ${skip.reason}`));
+        }
+        for (const killed of result.killed) {
+            console.log(chalk.green(`    ✓ killed pid ${killed.pid} ${killed.name} (${killed.reason})`));
+        }
+        for (const fail of result.failed) {
+            console.log(chalk.red(`    ✗ could not kill pid ${fail.pid} ${fail.name}: ${fail.detail}`));
+        }
+        if (!result.targets.length && !result.skipped.length) {
+            console.log(chalk.dim('    nothing competing for the camera or microphone'));
+        }
+        if (dryRun) {
+            console.log(chalk.yellow('\n  --preempt-dry-run: stopping here without starting anything.\n'));
+            return;
+        }
+    }
+    let running = null;
+    if (alreadyLive) {
         console.log(chalk.dim('  vision server already answering — reusing it'));
     }
     else {
@@ -277,12 +436,13 @@ export async function roboparkStart(config, name, opts) {
         else
             await launch;
     }
-    if (!(await waitForFeed(port))) {
-        throw new Error(`the vision server never answered http://127.0.0.1:${port}/video_feed within ${READY_TIMEOUT_MS / 1000}s — check the camera device and rerun with --foreground to see its output`);
-    }
+    const failure = await awaitVisionReady(port);
+    if (failure)
+        throw new Error(failure);
     console.log(chalk.green(`  ✓ local feed ready at http://127.0.0.1:${port}/video_feed`));
     const device = await registerDevice(schedulerUrl, name, host, profile.token);
     console.log(chalk.green(`  ✓ registered '${name}' at the scheduler (device ${device.id})`));
+    await selectAudio(schedulerUrl, port, device, opts, profile.token);
     const base = profile.schedulerUrl.replace(/\/+$/, '');
     console.log();
     console.log(`  control center: ${chalk.cyan(base)}`);

package/dist/robopark/start.js.map

@@ -1 +1 @@
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