npm - robopark - Versions diffs - 3.3.44 → 3.3.46 - Mend

robopark 3.3.44 → 3.3.46

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (26) hide show

package/dist/robopark/audio-select.js CHANGED Viewed

@@ -28,7 +28,8 @@ export async function fetchInventory(port) {
     }
 }
 /**
- * Resolve `--mic ...` / `--speaker ...` to the id the vision server expects.
+ * Resolve `--mic ...` / `--speaker ...` / `--camera ...` 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
@@ -36,6 +37,12 @@ export async function fetchInventory(port) {
  * 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.
+ *
+ * Cameras share this ladder rather than getting a second matcher: the
+ * substring rung is exactly what maps an operator- or browser-supplied label
+ * ("HD Webcam C270 (046d:0825)") onto the shorter name the OS reports
+ * ("HD Webcam C270"), and the ambiguity rule matters more for cameras than for
+ * microphones because a wrong camera produces no frames at all.
  */
 export function resolveAudioDevice(wanted, choices, kind) {
     const value = wanted.trim();
@@ -57,9 +64,10 @@ export function resolveAudioDevice(wanted, choices, kind) {
     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}=${c.name}`).join(', ')
+    const empty = kind === 'camera'
+        ? '(the vision server could not open any camera at all — see /api/media/inventory video_state)'
         : '(the vision server reported no audio devices; audio_server_pi.py is not running on this machine)';
+    const listed = choices.length ? choices.map(c => `${c.id}=${c.name}`).join(', ') : empty;
     return { error: `no ${kind} matches "${value}". Available: ${listed}` };
 }
 /** Push a selection at the vision server, which forwards it to the audio server. */

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

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

@@ -24,6 +24,7 @@ import { loadHubProfile } from './profile.js';
 import { resolveTailnet } from './tailscale.js';
 import { roboparkVisionAgent } from './vision-agent-launcher.js';
 import { roboparkVisionUp } from './vision-control.js';
+import { applyVideoSelection, describeVideoState, planVideoSelection } from './video-select.js';
 import { characterCallUrl } from './voice-list.js';
 const DEFAULT_VISION_PORT = 5000;
 const DEFAULT_MESH_PORT = 47913;
@@ -76,6 +77,22 @@ async function serverAlive(port) {
         return false;
     }
 }
+/**
+ * Wait until Flask answers at all, so the camera selection has somewhere to go.
+ *
+ * `POST /api/media/config` is the whole point of the wait: fired at a server
+ * that is still importing cv2 it just fails, and the run would fall back to
+ * `device=auto` — the exact behaviour `--camera` exists to replace.
+ */
+async function awaitServerAlive(port, timeoutMs = 20_000) {
+    const deadline = Date.now() + timeoutMs;
+    while (Date.now() < deadline) {
+        if (await serverAlive(port))
+            return true;
+        await sleep(READY_POLL_MS);
+    }
+    return false;
+}
 /** The vision server's own view of the capture device, for the failure message. */
 async function cameraStatus(port) {
     try {
@@ -115,16 +132,37 @@ async function waitForFeed(port) {
  * 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) {
+export async function awaitVisionReady(port, context = {}) {
     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");
+        // The inventory is printed INLINE rather than linked. On a headless kiosk
+        // "go look at this URL" meant a second SSH session to read the one field
+        // (video_state) that explains the failure, and the attempt log — which
+        // names every backend/index pair that was tried and why each failed — was
+        // never seen at all.
+        const lines = [
+            `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)}).`,
+            '  what the vision server says about the capture device:',
+            ...(await describeVideoState(port)),
+        ];
+        // A weak/mediaOnly preempt candidate that was skipped is the single most
+        // likely holder left standing: a real deployment lost an afternoon to
+        // parsecd.exe (Parsec remote desktop) sitting on the camera while the
+        // ConsentStore declined to confirm it, so the skipped names go in the
+        // failure itself instead of scrolling past earlier in the run.
+        const weak = context.weakSkips ?? [];
+        if (weak.length) {
+            lines.push('  preemption left these unconfirmed camera holders running:');
+            for (const skip of weak)
+                lines.push(`    pid ${skip.pid} ${skip.name}`);
+            lines.push('    rerun with --preempt-all to kill them too');
+        }
+        lines.push('  otherwise: make sure you did not pass --no-preempt, and rerun with --foreground to see the ' +
+            "server's output");
+        return lines.join('\n');
     }
     return (`the vision server never started: nothing answered http://127.0.0.1:${port}/ within ${READY_TIMEOUT_MS / 1000}s — ` +
         'rerun with --foreground to see why the python process exited');
@@ -290,6 +328,44 @@ async function selectAudio(schedulerUrl, port, device, opts, token) {
     else
         console.log(chalk.yellow(`    ⚠ could not persist the audio selection: HTTP ${patched.status}`));
 }
+/**
+ * Apply `--camera` (or, with no flag, whatever a previous run or the join page
+ * persisted on the device row) to the vision server, and persist an explicit
+ * choice back to the scheduler so the next run reapplies it without the flag.
+ *
+ * This is the counterpart of `selectAudio`, but it is the one that decides
+ * whether the feed comes up at all, so it runs BEFORE the readiness probe: a
+ * server left on `device=auto` scans indices 0..3 and settles on whichever one
+ * OpenCV can open first, which on a Windows kiosk with an IR or virtual camera
+ * installed is routinely not the webcam. It also runs before the kiosk browser
+ * is launched, so the call page never opens against a camera that is
+ * reselected out from under it a moment later.
+ */
+async function selectVideo(schedulerUrl, port, device, opts, token) {
+    const explicit = Boolean(opts.camera);
+    const selection = await planVideoSelection(port, { camera: opts.camera }, { videoDevice: device.video_device });
+    if (!selection) {
+        console.log(chalk.dim('  camera: no device pinned — the vision server scans indices until one yields a frame'));
+        console.log(chalk.dim('    pin one with `robopark start <robot> --camera <name|index>`'));
+        return;
+    }
+    const applied = await applyVideoSelection(port, selection);
+    if (applied)
+        console.log(chalk.green(`  ✓ camera selected (video=${selection})${explicit ? '' : ' — restored from the device record'}`));
+    else
+        console.log(chalk.yellow(`  ⚠ the vision server did not accept the camera selection (video=${selection})`));
+    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({ video_device: selection }),
+    });
+    if (patched.ok)
+        console.log(chalk.dim('    persisted on the scheduler device record — reruns need no flag'));
+    else
+        console.log(chalk.yellow(`    ⚠ could not persist the camera selection: HTTP ${patched.status}`));
+}
 /**
  * The character this kiosk should answer as.
  *
@@ -413,6 +489,9 @@ export async function roboparkStart(config, name, opts) {
     // 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.
+    // Kept for the failure message: a candidate held back for want of OS
+    // confirmation is invisible by the time the readiness probe gives up.
+    let weakSkips = [];
     if (opts.preempt === false) {
         console.log(chalk.dim('  preempt: skipped (--no-preempt) — a leftover camera holder will block the feed'));
     }
@@ -422,6 +501,7 @@ export async function roboparkStart(config, name, opts) {
     else {
         const dryRun = Boolean(opts.preemptDryRun);
         const result = preemptDevices(port, { dryRun, all: Boolean(opts.preemptAll) });
+        weakSkips = result.skipped.filter(s => /Media Foundation capture DLLs loaded/.test(s.reason));
         console.log(chalk.dim(`  preempt: ${dryRun ? 'DRY RUN — nothing will be killed' : 'terminating competing camera/audio holders'}`));
         for (const target of result.targets) {
             console.log(dryRun
@@ -459,7 +539,34 @@ export async function roboparkStart(config, name, opts) {
         if (opts.foreground)
             running = handle.done;
     }
-    const failure = await awaitVisionReady(port);
+    // Registration moves ahead of the readiness probe because the camera the
+    // operator pinned lives on the scheduler device row, and applying it after
+    // the probe would be applying it after the probe has already failed.
+    if (!(await awaitServerAlive(port))) {
+        console.log(chalk.yellow('  ⚠ the vision server is not answering yet — a pinned camera cannot be applied to it'));
+    }
+    // Anything that throws between here and the readiness probe leaves a vision
+    // agent this run started holding the camera, which is what made the NEXT
+    // run's preemption find one more app_pi_clean.py.
+    let device;
+    try {
+        device = await registerDevice(schedulerUrl, name, host, profile.token);
+        console.log(chalk.green(`  ✓ registered '${name}' at the scheduler (device ${device.id})`));
+        if (alreadyLive && !opts.camera) {
+            console.log(chalk.dim('  camera: leaving the running capture alone — the feed is already producing frames'));
+        }
+        else {
+            await selectVideo(schedulerUrl, port, device, opts, profile.token);
+        }
+    }
+    catch (err) {
+        for (const pid of startedPids)
+            killPid(pid);
+        if (startedPids.length)
+            console.log(chalk.dim('  cleanup: terminated the vision agent this run started'));
+        throw err;
+    }
+    const failure = await awaitVisionReady(port, { weakSkips });
     if (failure) {
         // A vision agent that never became ready is still holding the camera. Left
         // running it makes the NEXT run's preemption find one more app_pi_clean.py,
@@ -474,8 +581,6 @@ export async function roboparkStart(config, name, opts) {
         throw new Error(failure);
     }
     console.log(chalk.green(`  ✓ local feed ready at http://127.0.0.1:${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();

package/dist/robopark/start.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/robopark/video-select.js ADDED Viewed

@@ -0,0 +1,123 @@
+/**
+ * RoboPark — explicit kiosk camera selection.
+ *
+ * The exact counterpart of `audio-select.ts`, against the same two endpoints:
+ * `GET /api/media/inventory` lists the cameras and `POST /api/media/config`
+ * sets `video_device`, which app_pi_clean.py's `_reselect_camera()` applies to
+ * the capture worker immediately. The scheduler already stores the chosen value
+ * on the device row (`devices.video_device`, patchable via
+ * `PATCH /api/devices/<id>`), so a rerun with no flag reapplies the previous
+ * choice.
+ *
+ * Unlike the audio path this works everywhere: audio selection degrades on a
+ * non-ARM box because audio_server_pi.py is not running, but the camera is
+ * owned by the vision server itself, which runs on Windows, Linux and the Pi
+ * alike. Before this existed the ONLY way to point the vision server at a
+ * camera was the `ROBOPARK_CAMERA_DEVICE` environment variable, which
+ * `robopark start` never set — so every kiosk ran `device=auto` and a Windows
+ * box whose real webcam was not the first index OpenCV could open reported
+ * "vision server up but camera not producing frames".
+ */
+import chalk from 'chalk';
+import { fetchInventory, resolveAudioDevice } from './audio-select.js';
+export async function fetchVideoInventory(port) {
+    const inventory = await fetchInventory(port);
+    return {
+        video: inventory?.video ?? [],
+        state: inventory?.video_state ?? null,
+    };
+}
+/**
+ * Resolve `--camera ...` to the value the vision server expects.
+ *
+ * `auto` (scan every index) and `none` (disable) are ids the server acts on
+ * directly, and on Linux a `/dev/...` path is one too, so those three shapes
+ * short-circuit. Everything else is the same exact→unique-substring name match
+ * the microphone picker uses: an ambiguous substring is an error rather than a
+ * coin flip, because the wrong camera looks exactly like a dead one.
+ *
+ * Resolving a NAME to an INDEX here rather than posting the name is deliberate.
+ * On Windows the server's own name matching is positional and heuristic
+ * (`_windows_camera_names()`); an index is exact.
+ */
+export function resolveVideoDevice(wanted, choices) {
+    const value = wanted.trim();
+    if (!value)
+        return {};
+    const lower = value.toLowerCase();
+    if (lower === 'auto' || lower === 'scan')
+        return { id: 'auto' };
+    if (lower === 'none' || lower === 'off')
+        return { id: 'none' };
+    if (/[\\/]/.test(value)) {
+        return { id: value, warning: `treating "${value}" as a device path and applying it verbatim` };
+    }
+    const byId = choices.filter(c => String(c.id).toLowerCase() === lower);
+    if (byId.length === 1)
+        return { id: String(byId[0].id) };
+    return resolveAudioDevice(value, choices, 'camera');
+}
+/** Push a camera selection at the vision server. */
+export async function applyVideoSelection(port, videoDevice) {
+    if (!videoDevice)
+        return true;
+    try {
+        const res = await fetch(`http://127.0.0.1:${port}/api/media/config`, {
+            method: 'POST',
+            headers: { 'content-type': 'application/json' },
+            body: JSON.stringify({ video_device: videoDevice }),
+            signal: AbortSignal.timeout(15_000),
+        });
+        return res.ok;
+    }
+    catch {
+        return false;
+    }
+}
+/**
+ * Turn `--camera` (or, with no flag, the value already stored on the device
+ * row) into the device to apply.
+ *
+ * Throws on an unresolvable name: a kiosk that silently fell back to scanning
+ * after being told which camera to use is the failure this flag exists to
+ * remove.
+ */
+export async function planVideoSelection(port, flags, stored) {
+    if (!flags.camera) {
+        // No flag: reapply what a previous run persisted, so reruns are stable.
+        return stored.videoDevice ? String(stored.videoDevice) : undefined;
+    }
+    const { video } = await fetchVideoInventory(port);
+    const resolved = resolveVideoDevice(flags.camera, video);
+    if (resolved.error)
+        throw new Error(resolved.error);
+    if (resolved.warning)
+        console.log(chalk.yellow(`  ⚠ ${resolved.warning}`));
+    return resolved.id;
+}
+/**
+ * The inventory's `video_state`, flattened for the failure message.
+ *
+ * `awaitVisionReady` used to point the operator at the inventory URL and stop
+ * there, which on a headless kiosk meant a second SSH session to read the one
+ * field that explains the failure. The attempt log in particular names every
+ * backend/index pair the server tried and why each one failed.
+ */
+export async function describeVideoState(port) {
+    const { video, state } = await fetchVideoInventory(port);
+    if (!state)
+        return ['    /api/media/inventory did not answer — the vision server is not healthy either'];
+    const lines = [];
+    lines.push(`    active_device=${state.active_device ?? 'none'} backend=${state.active_backend ?? 'none'} ` +
+        `open=${state.open ? 'yes' : 'no'}${state.error ? ` error=${state.error}` : ''}`);
+    for (const attempt of (state.attempts ?? []).slice(0, 8))
+        lines.push(`    tried: ${attempt}`);
+    const listed = video.filter(c => c.id !== 'auto' && c.id !== 'none');
+    lines.push(`    openable cameras: ${listed.length ? listed.map(c => `${c.id}=${c.name}`).join(', ') : '(none)'}`);
+    if (state.os_reported_names?.length) {
+        lines.push(`    OS reports (${state.name_correlation ?? 'unknown'} correlation): ${state.os_reported_names.join(', ')}`);
+    }
+    lines.push('    pin one with `robopark start <robot> --camera <name|index>`');
+    return lines;
+}
+//# sourceMappingURL=video-select.js.map

package/dist/robopark/video-select.js.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/robopark-cli.js CHANGED Viewed

@@ -717,6 +717,7 @@ program
     .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)')
+    .option('--camera <name|index|auto>', "camera the vision server should capture from; 'auto' scans every index (default when nothing is pinned)")
     .action(async (robot, opts) => {
     const { roboparkStart } = await import('./robopark/start.js');
     try {

package/dist/robopark-cli.js.map CHANGED Viewed

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

@@ -1,6 +1,6 @@
 {
   "name": "robopark",
-  "version": "3.3.44",
+  "version": "3.3.46",
   "description": "RoboPark fleet control CLI — scheduler, control UI, and character voice calls. Standalone: no infinicode runtime.",
   "type": "module",
   "bin": {