robopark 3.3.37 → 3.3.39

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 @@
+{"version":3,"file":"device-preempt.js","sourceRoot":"","sources":["../../src/robopark/device-preempt.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;GAqBG;AACH,OAAO,EAAE,SAAS,EAAE,MAAM,oBAAoB,CAAC;AAgC/C,gEAAgE;AAChE,MAAM,cAAc,GAAG;IACrB,iBAAiB;IACjB,oBAAoB;IACpB,0BAA0B;CAC3B,CAAC;AAEF,MAAM,YAAY,GAAG,kDAAkD,CAAC;AACxE,MAAM,aAAa,GAAG,8FAA8F,CAAC;AAErH;;;;;GAKG;AACH,MAAM,aAAa,GAAG,6BAA6B,CAAC;AAEpD;;;;;;GAMG;AACH,MAAM,SAAS,GAAG;IAChB,EAAE,OAAO,EAAE,aAAa,EAAE,KAAK,EAAE,sBAAsB,EAAE;IACzD,EAAE,OAAO,EAAE,wDAAwD,EAAE,KAAK,EAAE,oBAAoB,EAAE;IAClG,EAAE,OAAO,EAAE,4CAA4C,EAAE,KAAK,EAAE,mBAAmB,EAAE;IACrF,EAAE,OAAO,EAAE,qCAAqC,EAAE,KAAK,EAAE,cAAc,EAAE;CAC1E,CAAC;AAEF,SAAS,WAAW,CAAC,GAAW;IAC9B,OAAO,SAAS,CAAC,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,IAAI,IAAI,CAAC;AACzE,CAAC;AAED,iEAAiE;AACjE,MAAM,UAAU,aAAa;IAC3B,IAAI,OAAO,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QACjC,MAAM,GAAG,GAAG,SAAS,CACnB,YAAY,EACZ;YACE,YAAY;YACZ,iBAAiB;YACjB,UAAU;YACV,qGAAqG;SACtG,EACD,EAAE,QAAQ,EAAE,MAAM,EAAE,SAAS,EAAE,EAAE,GAAG,IAAI,GAAG,IAAI,EAAE,CAClD,CAAC;QACF,IAAI,GAAG,CAAC,MAAM,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,IAAI,EAAE;YAAE,OAAO,EAAE,CAAC;QACtD,IAAI,CAAC;YACH,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,CAEgC,CAAC;YACrE,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC;YACvD,OAAO,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,MAAM,CAAC,CAAC,CAAC,SAAS,CAAC,EAAE,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,IAAI,IAAI,EAAE,CAAC,EAAE,GAAG,EAAE,MAAM,CAAC,CAAC,CAAC,WAAW,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACrH,CAAC;QAAC,MAAM,CAAC;YACP,OAAO,EAAE,CAAC;QACZ,CAAC;IACH,CAAC;IACD,MAAM,GAAG,GAAG,SAAS,CAAC,IAAI,EAAE,CAAC,KAAK,EAAE,kBAAkB,CAAC,EAAE,EAAE,QAAQ,EAAE,MAAM,EAAE,SAAS,EAAE,EAAE,GAAG,IAAI,GAAG,IAAI,EAAE,CAAC,CAAC;IAC5G,IAAI,GAAG,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,EAAE,CAAC;IAChC,OAAO,GAAG,CAAC,MAAM;SACd,KAAK,CAAC,IAAI,CAAC;SACX,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC,KAAK,CAAC,wBAAwB,CAAC,CAAC;SACxD,MAAM,CAAC,CAAC,CAAC,EAAyB,EAAE,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;SAChD,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AACvF,CAAC;AAED,mDAAmD;AACnD,MAAM,UAAU,WAAW,CAAC,IAAY;IACtC,MAAM,IAAI,GAAG,IAAI,GAAG,EAAU,CAAC;IAC/B,IAAI,OAAO,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QACjC,MAAM,GAAG,GAAG,SAAS,CAAC,SAAS,EAAE,CAAC,MAAM,EAAE,IAAI,EAAE,KAAK,CAAC,EAAE,EAAE,QAAQ,EAAE,MAAM,EAAE,SAAS,EAAE,CAAC,GAAG,IAAI,GAAG,IAAI,EAAE,CAAC,CAAC;QAC1G,IAAI,GAAG,CAAC,MAAM,KAAK,CAAC;YAAE,OAAO,IAAI,CAAC;QAClC,KAAK,MAAM,IAAI,IAAI,GAAG,CAAC,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC;YAC1C,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,IAAI,CAAC;gBAAE,SAAS;YACvC,MAAM,KAAK,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;YACvC,MAAM,KAAK,GAAG,KAAK,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC;YAC7B,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,IAAI,IAAI,EAAE,CAAC;gBAAE,SAAS;YAC1C,MAAM,GAAG,GAAG,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC;YAC5C,IAAI,MAAM,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,GAAG,GAAG,CAAC;gBAAE,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;QACtD,CAAC;QACD,OAAO,IAAI,CAAC;IACd,CAAC;IACD,MAAM,GAAG,GAAG,SAAS,CAAC,MAAM,EAAE,CAAC,KAAK,EAAE,SAAS,IAAI,EAAE,EAAE,cAAc,EAAE,IAAI,CAAC,EAAE,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC,CAAC;IACpG,IAAI,GAAG,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,IAAI,CAAC;IAClC,KAAK,MAAM,IAAI,IAAI,GAAG,CAAC,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC;QAC1C,MAAM,GAAG,GAAG,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC,CAAC;QAChC,IAAI,MAAM,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,GAAG,GAAG,CAAC;YAAE,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;IACtD,CAAC;IACD,OAAO,IAAI,CAAC;AACd,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,cAAc,CAAC,IAAY,EAAE,IAAkB,EAAE,SAAsB;IACrF,MAAM,OAAO,GAAoB,EAAE,CAAC;IACpC,MAAM,OAAO,GAAkB,EAAE,CAAC;IAClC,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,CAAC,OAAO,CAAC,GAAG,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC;IAElD,KAAK,MAAM,GAAG,IAAI,IAAI,EAAE,CAAC;QACvB,IAAI,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC;YAAE,SAAS;QAChC,MAAM,MAAM,GAAG,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;QAC7D,MAAM,QAAQ,GAAG,YAAY,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QAC7C,MAAM,MAAM,GAAG,SAAS,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;QACtC,MAAM,YAAY,GAAG,aAAa,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,aAAa,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;QAEjF,IAAI,MAAM,GAAkB,IAAI,CAAC;QACjC,IAAI,QAAQ,IAAI,MAAM;YAAE,MAAM,GAAG,wBAAwB,MAAM,GAAG,CAAC;aAC9D,IAAI,QAAQ,IAAI,MAAM;YAAE,MAAM,GAAG,uCAAuC,IAAI,EAAE,CAAC;aAC/E,IAAI,YAAY;YAAE,MAAM,GAAG,sDAAsD,CAAC;QAEvF,IAAI,CAAC,MAAM,EAAE,CAAC;YACZ,0EAA0E;YAC1E,kEAAkE;YAClE,IAAI,MAAM,EAAE,CAAC;gBACX,OAAO,CAAC,IAAI,CAAC,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,IAAI,EAAE,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,cAAc,IAAI,6FAA6F,EAAE,CAAC,CAAC;YAC1K,CAAC;YACD,SAAS;QACX,CAAC;QAED,MAAM,KAAK,GAAG,WAAW,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;QACnC,IAAI,KAAK,EAAE,CAAC;YACV,OAAO,CAAC,IAAI,CAAC,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,IAAI,EAAE,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,gDAAgD,KAAK,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package/dist/robopark/robot-runtime.js

@@ -236,9 +236,12 @@ export async function roboparkRobotRuntime(opts) {
     let stopping = false;
     let recycling = false;
     const requestedVideo = String(opts.videoDevice ?? '').trim();
-    const hardwareVideo = !requestedVideo || ['auto', 'default', 'first'].includes(requestedVideo.toLowerCase())
-        ? '/dev/video0'
-        : requestedVideo;
+    const autoVideo = !requestedVideo || ['auto', 'default', 'first'].includes(requestedVideo.toLowerCase());
+    const hardwareVideo = autoVideo ? '/dev/video0' : requestedVideo;
+    // The vision server resolves "auto" per platform: /dev/robopark-camera (or
+    // /dev/video0) on the Pi, an index scan on Windows. Passing the literal
+    // /dev/video0 there made a Windows kiosk chase a path that cannot exist.
+    const visionVideo = autoVideo ? 'auto' : requestedVideo;
     const infinicode = await resolveInfinicodeBin();
     if (!infinicode)
         throw new Error('could not resolve infinicode CLI');
@@ -262,7 +265,7 @@ export async function roboparkRobotRuntime(opts) {
             args: [cli, 'vision-agent', '--foreground', '--port', '5000',
                 '--motion-webhook-url', 'http://127.0.0.1:5057/'],
             env: {
-                ROBOPARK_CAMERA_DEVICE: hardwareVideo,
+                ROBOPARK_CAMERA_DEVICE: visionVideo,
                 ROBOPARK_MESH_TOKEN: opts.token,
                 ROBOPARK_MOTOR_TOKEN: opts.token,
             },

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

@@ -1 +1 @@
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