robopark 3.3.40 → 3.3.41

package/dist/robopark/device-preempt.js

@@ -5,20 +5,25 @@
  * 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.
+ * this module exists to prevent. MSMF reports it as `-1072875772`
+ * (MF_E_HW_MFT_FAILED_START_STREAMING): the device node opens, the stream
+ * cannot start — the classic in-use signature, not a missing camera.
  *
- * 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.
+ * Selection is evidence-graded, strongest first:
+ *   1. OS camera bookkeeping — the CapabilityAccessManager ConsentStore, where
+ *      `LastUsedTimeStop == 0` means that executable HAS the camera open right
+ *      now. On Linux, the equivalent is a process holding /dev/video*.
+ *   2. robopark's own servers, matched on their script filename or on the
+ *      vision port.
+ *   3. a kiosk browser running out of a `~/.robopark/kiosk-*` profile dir.
+ *   4. WEAK: Media Foundation loaded (mfcore/MFReadWrite). Every media player
+ *      and Electron shell on the box loads those, so this alone never kills —
+ *      it is reported, and only acted on under `--preempt-all`.
  *
- * 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.
+ * Everything else is skipped and reported. `node.exe` is never a candidate on
+ * any tier: the mesh node, the scheduler's supervisor, the control-center UI
+ * and this CLI are all node, and a false positive there 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. */
@@ -28,6 +33,7 @@ const DEVICE_SCRIPTS = [
     'vision_motion_trigger.py',
 ];
 const PYTHON_IMAGE = /^(python|python3|pythonw)(\d(\.\d+)?)?(\.exe)?$/i;
+const NODE_IMAGE = /^(node|nodejs|node\.exe)$/i;
 const BROWSER_IMAGE = /^(chrome|msedge|brave|chromium|chromium-browser|google-chrome|firefox|firefox-esr)(\.exe)?$/i;
 /**
  * The kiosk profile directory `kiosk-browser.ts` builds
@@ -36,37 +42,58 @@ const BROWSER_IMAGE = /^(chrome|msedge|brave|chromium|chromium-browser|google-ch
  * browser, which must never be touched.
  */
 const KIOSK_PROFILE = /[\\/]\.robopark[\\/]kiosk-/i;
+/**
+ * Never killed on any evidence: the session, the window manager and the
+ * service hosts. Matched on the IMAGE NAME only — a command line is attacker-
+ * and coincidence-prone, an image name is not.
+ *
+ * WUDFHost is here because it hosts the camera's own user-mode driver: it will
+ * always look like a device holder, and killing it takes the camera with it.
+ */
+const CRITICAL_IMAGES = /^(system|registry|smss|csrss|wininit|winlogon|services|lsass|svchost|explorer|dwm|fontdrvhost|sihost|ctfmon|audiodg|dllhost|conhost|taskhostw|runtimebroker|wudfhost|spoolsv|shellhost|textinputhost|searchhost|startmenuexperiencehost|lockapp|logonui)(\.exe)?$/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.
+ * Both halves must agree: an image-name pattern AND a command-line pattern.
+ * A cmdline-only match previously labelled four `python.exe` processes
+ * "infinicode mesh node" — they only had the string in an installation path —
+ * and shielded exactly the vision servers preemption exists to kill. The mesh
+ * node is `node.exe` running `infinicode.js`, and nothing else ever is.
  */
 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' },
+    { images: NODE_IMAGE, cmd: /infinicode\.js\b/i, label: 'infinicode mesh node' },
+    { images: PYTHON_IMAGE, cmd: /scheduler[\\/]main\.py|\buvicorn\b/i, label: 'robopark scheduler' },
+    { images: NODE_IMAGE, cmd: /[\\/]next[\\/]dist[\\/]|\bnext\b\s+(dev|start|build)|frontend-service|robopark[\\/]ui/i, label: 'control-center UI' },
+    { images: NODE_IMAGE, cmd: /robopark-cli|[\\/]bin[\\/]robopark\.js|[\\/]dist[\\/]robopark/i, label: 'robopark CLI' },
 ];
-function protectedBy(cmd) {
-    return PROTECTED.find(entry => entry.pattern.test(cmd))?.label ?? null;
+function protectedBy(row) {
+    const hit = PROTECTED.find(e => e.images.test(row.name) && (e.cmd.test(row.cmd) || e.cmd.test(row.exe)));
+    return hit?.label ?? null;
 }
-/** Every process on this machine, with its full command line. */
+/** Windows ships its own capture stack from System32; nothing there is ours. */
+function inSystem32(exe) {
+    return /^[a-z]:[\\/]windows[\\/](system32|syswow64)[\\/]/i.test(exe);
+}
+/** Every process on this machine, with its full command line and image path. */
 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',
+            'Get-CimInstance Win32_Process | Select-Object ProcessId,Name,CommandLine,ExecutablePath | 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 ?? '') }));
+            return rows.map(r => ({
+                pid: Number(r.ProcessId),
+                name: String(r.Name ?? ''),
+                cmd: String(r.CommandLine ?? ''),
+                exe: String(r.ExecutablePath ?? ''),
+            }));
         }
         catch {
             return [];
@@ -79,7 +106,7 @@ export function listProcesses() {
         .split('\n')
         .map(line => line.trim().match(/^(\d+)\s+(\S+)\s*(.*)$/))
         .filter((m) => Boolean(m))
-        .map(m => ({ pid: Number(m[1]), name: m[2].split('/').pop() ?? m[2], cmd: m[3] }));
+        .map(m => ({ pid: Number(m[1]), name: m[2].split('/').pop() ?? m[2], cmd: m[3], exe: m[2] }));
 }
 /** PIDs listening on `port`, whatever they are. */
 export function listenersOn(port) {
@@ -111,14 +138,127 @@ export function listenersOn(port) {
     }
     return pids;
 }
+function powershellJson(script) {
+    const res = spawnSync('powershell', ['-NoProfile', '-NonInteractive', '-Command', script], {
+        encoding: 'utf8',
+        maxBuffer: 16 * 1024 * 1024,
+    });
+    if (res.status !== 0 || !res.stdout.trim())
+        return null;
+    try {
+        return JSON.parse(res.stdout);
+    }
+    catch {
+        return null;
+    }
+}
+/**
+ * Executables the OS says are capturing RIGHT NOW.
+ *
+ * The ConsentStore records a start and a stop timestamp per app; a stop of 0
+ * means the capture never ended, i.e. the handle is still open. That is the
+ * only signal on Windows that distinguishes "has the camera" from "can do
+ * video". Subkey names are image paths with `\` written as `#`; packaged apps
+ * are keyed by package family name instead, so those are matched against the
+ * `WindowsApps\<family>` component of the image path.
+ */
+function consentStoreHolders() {
+    const script = [
+        "$out=@();",
+        "foreach ($root in @('HKCU:\\SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\CapabilityAccessManager\\ConsentStore\\webcam','HKLM:\\SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\CapabilityAccessManager\\ConsentStore\\webcam')) {",
+        "  if (-not (Test-Path $root)) { continue }",
+        "  foreach ($k in (Get-ChildItem $root -ErrorAction SilentlyContinue)) {",
+        "    if ($k.PSChildName -eq 'NonPackaged') {",
+        "      foreach ($n in (Get-ChildItem $k.PSPath -ErrorAction SilentlyContinue)) {",
+        "        $v = Get-ItemProperty $n.PSPath -ErrorAction SilentlyContinue;",
+        "        if ($v.LastUsedTimeStop -eq 0) { $out += $n.PSChildName }",
+        "      }",
+        "    } else {",
+        "      $v = Get-ItemProperty $k.PSPath -ErrorAction SilentlyContinue;",
+        "      if ($v.LastUsedTimeStop -eq 0) { $out += $k.PSChildName }",
+        "    }",
+        "  }",
+        "}",
+        "ConvertTo-Json -Compress -InputObject @{ ok = $true; holders = [string[]]$out }",
+    ].join(' ');
+    const parsed = powershellJson(script);
+    if (!parsed?.ok)
+        return { holders: [], ok: false };
+    const raw = parsed.holders;
+    const holders = (Array.isArray(raw) ? raw : raw ? [raw] : []).map(h => String(h).replace(/#/g, '\\'));
+    return { holders, ok: true };
+}
+/**
+ * PIDs with the Media Foundation capture DLLs mapped in.
+ *
+ * `.Modules` throws for any process this session cannot open, and there are
+ * always dozens of those — the per-process try/catch is what keeps one denied
+ * handle from aborting the whole sweep.
+ */
+function mediaFoundationPids() {
+    const script = "$out=@(); foreach ($p in (Get-Process)) { try { if ($p.Modules | Where-Object { $_.ModuleName -eq 'mfcore.dll' -or $_.ModuleName -eq 'MFReadWrite.dll' }) { $out += $p.Id } } catch { } } " +
+        'ConvertTo-Json -Compress -InputObject @{ pids = [int[]]$out }';
+    const parsed = powershellJson(script);
+    const raw = parsed?.pids;
+    const list = Array.isArray(raw) ? raw : typeof raw === 'number' ? [raw] : [];
+    return new Set(list.map(Number).filter(n => Number.isInteger(n) && n > 0));
+}
+/** PIDs holding a V4L2 capture node. The Pi/Linux equivalent of the ConsentStore. */
+function videoDeviceHolders() {
+    const pids = new Set();
+    const res = spawnSync('sh', ['-c', 'fuser /dev/video* 2>/dev/null'], { encoding: 'utf8' });
+    if (res.status !== 0 && !res.stdout.trim())
+        return { pids, ok: false };
+    for (const tok of res.stdout.split(/\s+/)) {
+        const pid = Number(tok.replace(/\D/g, ''));
+        if (Number.isInteger(pid) && pid > 0)
+            pids.add(pid);
+    }
+    return { pids, ok: true };
+}
+/** Read every camera signal this platform offers. */
+export function readCameraEvidence() {
+    if (process.platform === 'win32') {
+        const consent = consentStoreHolders();
+        return { holders: consent.holders, holderPids: new Set(), mediaPids: mediaFoundationPids(), osSignal: consent.ok };
+    }
+    const v4l2 = videoDeviceHolders();
+    return { holders: [], holderPids: v4l2.pids, mediaPids: new Set(), osSignal: v4l2.ok };
+}
+/**
+ * True when `row` is one of the executables the OS reports as capturing.
+ *
+ * The ConsentStore records an image PATH, not a pid, so two processes started
+ * from the same interpreter are indistinguishable here and both get killed.
+ * That is the right trade on a kiosk — a second copy of the same camera
+ * program is the thing being preempted — but it is why this match is against
+ * the full image path and never against the image name alone.
+ */
+function osReportsHolding(row, evidence) {
+    if (evidence.holderPids.has(row.pid))
+        return true;
+    if (!row.exe)
+        return false;
+    const exe = row.exe.toLowerCase();
+    return evidence.holders.some(holder => {
+        const h = holder.toLowerCase();
+        if (h.includes('\\') || h.includes('/'))
+            return exe === h;
+        // Packaged app: the ConsentStore key is a package family name, which appears
+        // in the image path as WindowsApps\<family-prefix>_<version>_...
+        const family = h.split('_')[0];
+        return Boolean(family) && exe.includes(`\\windowsapps\\${family}`);
+    });
+}
 /**
  * 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.
+ * protected process, a camera holder held back by a guard, 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) {
+export function planPreemption(port, rows, listeners, evidence = { holders: [], holderPids: new Set(), mediaPids: new Set(), osSignal: false }, opts = {}) {
     const targets = [];
     const skipped = [];
     const self = new Set([process.pid, process.ppid]);
@@ -129,13 +269,24 @@ export function planPreemption(port, rows, listeners) {
         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);
+        const osHolder = osReportsHolding(row, evidence);
+        const mediaOnly = !osHolder && evidence.mediaPids.has(row.pid);
         let reason = null;
+        let strong = true;
         if (isPython && script)
             reason = `vision/audio server (${script})`;
         else if (isPython && onPort)
             reason = `python listening on the vision port ${port}`;
+        else if (osHolder)
+            reason = process.platform === 'win32'
+                ? `holds the camera now (ConsentStore LastUsedTimeStop=0, ${row.exe})`
+                : `holds a /dev/video* capture node`;
         else if (kioskBrowser)
-            reason = `robopark kiosk browser (~/.robopark/kiosk-* profile)`;
+            reason = 'robopark kiosk browser (~/.robopark/kiosk-* profile)';
+        else if (mediaOnly) {
+            reason = 'Media Foundation capture DLLs loaded (candidate only)';
+            strong = false;
+        }
         if (!reason) {
             // Anything else holding the vision port is reported but not killed: it is
             // not a process robopark started, so it is not ours to terminate.
@@ -144,17 +295,37 @@ export function planPreemption(port, rows, listeners) {
             }
             continue;
         }
-        const guard = protectedBy(row.cmd);
+        if (CRITICAL_IMAGES.test(row.name)) {
+            skipped.push({ pid: row.pid, name: row.name, reason: `${reason} — but it is a critical Windows process; killing it would take the session or the camera driver down` });
+            continue;
+        }
+        // node.exe is the mesh node, the scheduler supervisor, the UI and this CLI.
+        // No camera evidence is worth guessing wrong about which one it is.
+        if (NODE_IMAGE.test(row.name)) {
+            skipped.push({ pid: row.pid, name: row.name, reason: `${reason} — node processes are never preempted (mesh node / scheduler / UI / CLI)` });
+            continue;
+        }
+        const guard = protectedBy(row);
         if (guard) {
             skipped.push({ pid: row.pid, name: row.name, reason: `looks like a device holder but is protected (${guard}) — skipped` });
             continue;
         }
-        targets.push({ pid: row.pid, name: row.name, reason });
+        // System32 binaries are Windows' own capture stack. Only the OS's own
+        // "capturing right now" record is enough to touch one; a loaded DLL is not.
+        if (inSystem32(row.exe) && !strong) {
+            skipped.push({ pid: row.pid, name: row.name, reason: `${reason} — lives under System32 and is not confirmed capturing; skipped` });
+            continue;
+        }
+        if (!strong && !opts.all) {
+            skipped.push({ pid: row.pid, name: row.name, reason: `${reason} — not confirmed by the OS camera record; pass --preempt-all to kill it anyway` });
+            continue;
+        }
+        targets.push({ pid: row.pid, name: row.name, reason: strong ? reason : `${reason} [--preempt-all]` });
     }
     return { targets, skipped };
 }
 /** Kill one pid. Never `/T`: that would take the process's children with it. */
-function killPid(pid) {
+export 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() };
@@ -168,14 +339,22 @@ function killPid(pid) {
     }
 }
 export function preemptDevices(port, opts = {}) {
-    const plan = planPreemption(port, listProcesses(), listenersOn(port));
+    const evidence = readCameraEvidence();
+    const plan = planPreemption(port, listProcesses(), listenersOn(port), evidence, { all: opts.all });
     const killed = [];
     const failed = [];
     if (opts.dryRun)
         return { ...plan, killed, failed };
+    const seen = new Set();
     for (const target of plan.targets) {
+        // Earlier runs reported "process not found" for a pid that a previous kill
+        // in the same pass had already taken down. One kill per pid, and a pid that
+        // is already gone is a success, not a failure to report.
+        if (seen.has(target.pid))
+            continue;
+        seen.add(target.pid);
         const res = killPid(target.pid);
-        if (res.ok)
+        if (res.ok || /not found|no running instance|no such process/i.test(res.detail))
             killed.push(target);
         else
             failed.push({ ...target, detail: res.detail || 'taskkill failed' });

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

@@ -1 +1 @@
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package/dist/robopark/start.js

@@ -18,7 +18,7 @@ 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 { killPid, preemptDevices } from './device-preempt.js';
 import { findBrowser, kioskLaunch, launchCommandLine, launchKiosk } from './kiosk-browser.js';
 import { loadHubProfile } from './profile.js';
 import { resolveTailnet } from './tailscale.js';
@@ -399,7 +399,7 @@ export async function roboparkStart(config, name, opts) {
     }
     else {
         const dryRun = Boolean(opts.preemptDryRun);
-        const result = preemptDevices(port, { dryRun });
+        const result = preemptDevices(port, { dryRun, all: Boolean(opts.preemptAll) });
         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
@@ -424,21 +424,33 @@ export async function roboparkStart(config, name, opts) {
         }
     }
     let running = null;
+    let startedPids = [];
     if (alreadyLive) {
         console.log(chalk.dim('  vision server already answering — reusing it'));
     }
     else {
-        const launch = roboparkVisionAgent({ port: String(port), foreground: opts.foreground });
-        // In --foreground the launcher only resolves when the camera exits, so it
-        // must not be awaited before the readiness probe or nothing is ever polled.
+        // The launcher returns as soon as the media services are spawned; in
+        // --foreground `done` is what resolves when they exit, so the readiness
+        // probe below still runs.
+        const handle = await roboparkVisionAgent({ port: String(port), foreground: opts.foreground });
+        startedPids = handle.pids;
         if (opts.foreground)
-            running = launch;
-        else
-            await launch;
+            running = handle.done;
     }
     const failure = await awaitVisionReady(port);
-    if (failure)
+    if (failure) {
+        // A vision agent that never became ready is still holding the camera. Left
+        // running it makes the NEXT run's preemption find one more app_pi_clean.py,
+        // which is how kongor accumulated 14180/15504/15312/20832. We started it,
+        // so we clean it up.
+        for (const pid of startedPids) {
+            const res = killPid(pid);
+            console.log(res.ok
+                ? chalk.dim(`  cleanup: terminated the vision agent this run started (pid ${pid})`)
+                : chalk.yellow(`  cleanup: could not terminate pid ${pid}: ${res.detail || 'taskkill failed'}`));
+        }
         throw new Error(failure);
+    }
     console.log(chalk.green(`  ✓ local feed ready at http://127.0.0.1:${port}/video_feed`));
     const device = await registerDevice(schedulerUrl, name, host, profile.token);
     console.log(chalk.green(`  ✓ registered '${name}' at the scheduler (device ${device.id})`));

package/dist/robopark/start.js.map

@@ -1 +1 @@
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package/dist/robopark/vision-agent-launcher.js

@@ -68,7 +68,7 @@ export async function roboparkVisionAgent(opts) {
         // If either required media service exits, tear down its sibling. The
         // robot runtime then restarts one coherent pair instead of accumulating
         // orphan audio servers and duplicate owners of ports/devices.
-        await new Promise((resolve) => {
+        const done = new Promise((resolve) => {
             let resolved = false;
             const finish = () => {
                 if (resolved)
@@ -80,13 +80,16 @@ export async function roboparkVisionAgent(opts) {
             camera.once('close', finish);
             audio?.once('close', finish);
         });
-        return;
+        return { pids: [camera.pid, audio?.pid].filter((p) => typeof p === 'number'), done };
     }
+    const pids = [];
     if (audioScript) {
         const audio = spawn(python, [audioScript], {
             stdio: 'ignore', detached: true, env: { ...process.env, ROBOPARK_AUDIO_SERVER: '1' },
         });
         audio.unref();
+        if (typeof audio.pid === 'number')
+            pids.push(audio.pid);
     }
     const proc = spawn(python, args, {
         stdio: 'ignore',
@@ -94,6 +97,9 @@ export async function roboparkVisionAgent(opts) {
         env: { ...process.env, ROBOPARK_VISION_AGENT: '1' },
     });
     proc.unref();
+    if (typeof proc.pid === 'number')
+        pids.push(proc.pid);
     console.log(chalk.green('  ✓ vision agent started in background'));
+    return { pids, done: Promise.resolve() };
 }
 //# sourceMappingURL=vision-agent-launcher.js.map

package/dist/robopark/vision-agent-launcher.js.map

@@ -1 +1 @@
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+{"version":3,"file":"vision-agent-launcher.js","sourceRoot":"","sources":["../../src/robopark/vision-agent-launcher.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,OAAO,EAAE,KAAK,EAAE,MAAM,oBAAoB,CAAC;AAC3C,OAAO,KAAK,MAAM,OAAO,CAAC;AAC1B,OAAO,EAAE,UAAU,EAAE,cAAc,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,uBAAuB,EAAE,MAAM,iBAAiB,CAAC;AAE/H,MAAM,mBAAmB,GAAG,IAAI,CAAC;AACjC,MAAM,2BAA2B,GAAG,IAAI,CAAC,CAAC,2DAA2D;AAoBrG,SAAS,OAAO;IACd,OAAO,OAAO,CAAC,QAAQ,KAAK,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,KAAK,KAAK,IAAI,OAAO,CAAC,IAAI,KAAK,OAAO,CAAC,CAAC;AAC9F,CAAC;AAED,MAAM,CAAC,KAAK,UAAU,mBAAmB,CAAC,IAAwB;IAChE,MAAM,MAAM,GAAG,MAAM,cAAc,EAAE,CAAC;IACtC,IAAI,CAAC,MAAM,EAAE,CAAC;QACZ,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,oCAAoC,CAAC,CAAC,CAAC;QAC7D,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IACD,MAAM,UAAU,GAAG,UAAU,EAAE,CAAC;IAChC,wEAAwE;IACxE,wEAAwE;IACxE,wEAAwE;IACxE,MAAM,OAAO,GAAG,OAAO,EAAE,CAAC,CAAC,CAAC,+BAA+B,CAAC,CAAC,CAAC,uBAAuB,CAAC;IACtF,MAAM,eAAe,GAAG,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,uBAAuB,EAAE,SAAS,EAAE,SAAS,EAAE,aAAa,EAAE,WAAW,EAAE,MAAM,EAAE,OAAO,CAAC,CAAC,CAAC,CAAC,uBAAuB,CAAC;IAC9J,MAAM,MAAM,GAAG,kBAAkB,CAAC,UAAU,EAAE,MAAM,EAAE,eAAe,EAAE,OAAO,CAAC,CAAC;IAChF,IAAI,CAAC,MAAM;QAAE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAE7B,MAAM,IAAI,GAAG,IAAI,CAAC,IAAI,IAAI,MAAM,CAAC,mBAAmB,CAAC,CAAC;IACtD,MAAM,UAAU,GAAG,IAAI,CAAC,gBAAgB,IAAI,oBAAoB,2BAA2B,GAAG,CAAC;IAC/F,MAAM,YAAY,GAAG,IAAI,CAAC,YAAY,IAAI,IAAI,CAAC,CAAC,2DAA2D;IAE3G,MAAM,IAAI,GAAG,CAAC,MAAM,EAAE,QAAQ,EAAE,IAAI,EAAE,sBAAsB,EAAE,UAAU,CAAC,CAAC;IAC1E,IAAI,YAAY;QAAE,IAAI,CAAC,IAAI,CAAC,iBAAiB,CAAC,CAAC;IAE/C,sEAAsE;IACtE,uEAAuE;IACvE,kEAAkE;IAClE,IAAI,WAAW,GAAkB,IAAI,CAAC;IACtC,IAAI,OAAO,EAAE,EAAE,CAAC;QACd,WAAW,GAAG,MAAM,mBAAmB,EAAE,CAAC;IAC5C,CAAC;IAED,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,2BAA2B,CAAC,CAAC,CAAC;IACrD,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,GAAG,GAAG,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;IAC9C,OAAO,CAAC,GAAG,CAAC,cAAc,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;IAC9C,OAAO,CAAC,GAAG,CAAC,cAAc,KAAK,CAAC,IAAI,CAAC,UAAU,CAAC,EAAE,CAAC,CAAC;IACpD,OAAO,CAAC,GAAG,CAAC,cAAc,YAAY,CAAC,CAAC,CAAC,KAAK,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC;IACpF,IAAI,WAAW;QAAE,OAAO,CAAC,GAAG,CAAC,cAAc,KAAK,CAAC,KAAK,CAAC,+BAA+B,CAAC,EAAE,CAAC,CAAC;IAC3F,OAAO,CAAC,GAAG,CAAC,cAAc,KAAK,CAAC,GAAG,CAAC,+CAA+C,CAAC,EAAE,CAAC,CAAC;IACxF,OAAO,CAAC,GAAG,EAAE,CAAC;IAEd,IAAI,IAAI,CAAC,UAAU,EAAE,CAAC;QACpB,MAAM,KAAK,GAAG,WAAW;YACvB,CAAC,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC,WAAW,CAAC,EAAE,EAAE,KAAK,EAAE,SAAS,EAAE,GAAG,EAAE,EAAE,GAAG,OAAO,CAAC,GAAG,EAAE,qBAAqB,EAAE,GAAG,EAAE,EAAE,CAAC;YACzG,CAAC,CAAC,IAAI,CAAC;QACT,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,EAAE,IAAI,EAAE,EAAE,KAAK,EAAE,SAAS,EAAE,CAAC,CAAC;QACzD,IAAI,QAAQ,GAAG,KAAK,CAAC;QACrB,MAAM,YAAY,GAAG,GAAS,EAAE;YAC9B,IAAI,QAAQ;gBAAE,OAAO;YACrB,QAAQ,GAAG,IAAI,CAAC;YAChB,MAAM,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YACvB,KAAK,EAAE,IAAI,CAAC,SAAS,CAAC,CAAC;QACzB,CAAC,CAAC;QACF,OAAO,CAAC,IAAI,CAAC,QAAQ,EAAE,YAAY,CAAC,CAAC;QACrC,OAAO,CAAC,IAAI,CAAC,SAAS,EAAE,YAAY,CAAC,CAAC;QACtC,qEAAqE;QACrE,wEAAwE;QACxE,8DAA8D;QAC9D,MAAM,IAAI,GAAG,IAAI,OAAO,CAAO,CAAC,OAAO,EAAE,EAAE;YACzC,IAAI,QAAQ,GAAG,KAAK,CAAC;YACrB,MAAM,MAAM,GAAG,GAAS,EAAE;gBACxB,IAAI,QAAQ;oBAAE,OAAO;gBACrB,QAAQ,GAAG,IAAI,CAAC;gBAChB,YAAY,EAAE,CAAC;gBACf,OAAO,EAAE,CAAC;YACZ,CAAC,CAAC;YACF,MAAM,CAAC,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,CAAC;YAC7B,KAAK,EAAE,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,CAAC;QAC/B,CAAC,CAAC,CAAC;QACH,OAAO,EAAE,IAAI,EAAE,CAAC,MAAM,CAAC,GAAG,EAAE,KAAK,EAAE,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAe,EAAE,CAAC,OAAO,CAAC,KAAK,QAAQ,CAAC,EAAE,IAAI,EAAE,CAAC;IACpG,CAAC;IAED,MAAM,IAAI,GAAa,EAAE,CAAC;IAC1B,IAAI,WAAW,EAAE,CAAC;QAChB,MAAM,KAAK,GAAG,KAAK,CAAC,MAAM,EAAE,CAAC,WAAW,CAAC,EAAE;YACzC,KAAK,EAAE,QAAQ,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,GAAG,OAAO,CAAC,GAAG,EAAE,qBAAqB,EAAE,GAAG,EAAE;SACrF,CAAC,CAAC;QACH,KAAK,CAAC,KAAK,EAAE,CAAC;QACd,IAAI,OAAO,KAAK,CAAC,GAAG,KAAK,QAAQ;YAAE,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IAC1D,CAAC;IACD,MAAM,IAAI,GAAG,KAAK,CAAC,MAAM,EAAE,IAAI,EAAE;QAC/B,KAAK,EAAE,QAAQ;QACf,QAAQ,EAAE,IAAI;QACd,GAAG,EAAE,EAAE,GAAG,OAAO,CAAC,GAAG,EAAE,qBAAqB,EAAE,GAAG,EAAE;KACpD,CAAC,CAAC;IACH,IAAI,CAAC,KAAK,EAAE,CAAC;IACb,IAAI,OAAO,IAAI,CAAC,GAAG,KAAK,QAAQ;QAAE,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;IACtD,OAAO,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,wCAAwC,CAAC,CAAC,CAAC;IACnE,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,OAAO,CAAC,OAAO,EAAE,EAAE,CAAC;AAC3C,CAAC"}

package/dist/robopark-cli.js

@@ -277,7 +277,7 @@ program
     .option('--foreground', 'stay in foreground; do not detach')
     .action(async (opts) => {
     const { roboparkVisionAgent } = await import('./robopark/vision-agent-launcher.js');
-    await roboparkVisionAgent(opts);
+    await (await roboparkVisionAgent(opts)).done;
 });
 const visionProgram = program
     .command('vision')
@@ -713,6 +713,7 @@ program
     .option('--browser <path>', 'kiosk browser executable (default: first installed Edge/Chrome/Chromium/Firefox)')
     .option('--no-browser', 'do not open the live call page; just print its URL')
     .option('--no-preempt', 'do not terminate other processes holding this kiosk\'s camera or microphone')
+    .option('--preempt-all', 'also kill processes that merely look like camera holders (Media Foundation loaded) but the OS does not confirm are capturing')
     .option('--preempt-dry-run', 'report which processes preemption would kill, then stop without starting anything')
     .option('--mic <name|index>', 'microphone the vision server should capture from (name or device index)')
     .option('--speaker <name|index>', 'speaker the vision server should play through (name or device index)')