reachy-mini 1.2.5rc1__py3-none-any.whl → 1.2.11__py3-none-any.whl

reachy_mini/utils/wireless_version/startup_check.py

@@ -7,7 +7,6 @@ Also checks and updates the bluetooth service if needed.
 
 import filecmp
 import logging
-import pwd
 import subprocess
 from pathlib import Path
 
@@ -18,13 +17,15 @@ USER = "pollen"
 def check_and_fix_venvs_ownership(
     venvs_path: str = "/venvs", custom_logger: logging.Logger | None = None
 ) -> None:
-    """Check if files under venvs_path are owned by user pollen and fix if needed.
+    """For wireless units, check if files under venvs_path are owned by user pollen and fix if needed.
 
     Args:
         venvs_path: Path to the virtual environments directory (default: /venvs)
         custom_logger: Optional logger to use instead of the module logger
 
     """
+    import pwd
+
     try:
         # Get pollen user's UID
         pollen_uid = pwd.getpwnam(USER).pw_uid
@@ -81,39 +82,71 @@ def check_and_update_bluetooth_service() -> None:
 
     Compares the source bluetooth_service.py with the installed version at
     /bluetooth/bluetooth_service.py. If they differ, copies the new version
-    and restarts the bluetooth service.
+    and restarts the bluetooth service. Also syncs the commands/ folder.
     """
     # This file: src/reachy_mini/utils/wireless_version/startup_check.py
     # Target:    src/reachy_mini/daemon/app/services/bluetooth/bluetooth_service.py
     # From parent: ../../daemon/app/services/bluetooth/bluetooth_service.py
-    source = Path(__file__).parent / ".." / ".." / "daemon" / "app" / "services" / "bluetooth" / "bluetooth_service.py"
-    source = source.resolve()
+    bluetooth_dir = (
+        Path(__file__).parent
+        / ".."
+        / ".."
+        / "daemon"
+        / "app"
+        / "services"
+        / "bluetooth"
+    )
+    bluetooth_dir = bluetooth_dir.resolve()
+    source = bluetooth_dir / "bluetooth_service.py"
     target = Path("/bluetooth/bluetooth_service.py")
+    source_commands = bluetooth_dir / "commands"
+    target_commands = Path("/bluetooth/commands")
 
     if not source.exists():
         print(f"Source bluetooth service not found at {source}")
         return
 
-    # Check if target exists
+    needs_update = False
+    needs_commands_update = False
+
+    # Check if bluetooth_service.py needs update
     if not target.exists():
         print(f"Bluetooth service not installed at {target}, copying...")
         needs_update = True
     else:
-        # Compare files
         try:
-            if filecmp.cmp(str(source), str(target), shallow=False):
-                print("Bluetooth service is up to date")
-                return
-            else:
+            if not filecmp.cmp(str(source), str(target), shallow=False):
                 print("Bluetooth service has changed, updating...")
                 needs_update = True
         except Exception as e:
             print(f"Error comparing bluetooth service files: {e}")
-            return
 
-    if needs_update:
-        try:
-            # Copy the new version using sudo
+    # Check if commands folder needs update
+    if source_commands.exists():
+        if not target_commands.exists():
+            print("Commands folder not installed, copying...")
+            needs_commands_update = True
+        else:
+            # Compare each command file
+            for cmd_file in source_commands.glob("*.sh"):
+                target_cmd = target_commands / cmd_file.name
+                if not target_cmd.exists():
+                    needs_commands_update = True
+                    break
+                try:
+                    if not filecmp.cmp(str(cmd_file), str(target_cmd), shallow=False):
+                        needs_commands_update = True
+                        break
+                except Exception:
+                    needs_commands_update = True
+                    break
+
+    if not needs_update and not needs_commands_update:
+        print("Bluetooth service and commands are up to date")
+        return
+
+    try:
+        if needs_update:
             print(f"Copying {source} to {target}")
             subprocess.run(
                 ["sudo", "cp", str(source), str(target)],
@@ -123,22 +156,246 @@ def check_and_update_bluetooth_service() -> None:
             )
             print("Successfully copied bluetooth service")
 
-            # Restart the bluetooth service
-            print("Restarting bluetooth service...")
+        if needs_commands_update:
+            print(f"Syncing commands folder to {target_commands}")
+            subprocess.run(
+                ["sudo", "mkdir", "-p", str(target_commands)],
+                check=True,
+                capture_output=True,
+                text=True,
+            )
+            subprocess.run(
+                ["sudo", "cp", "-r", f"{source_commands}/.", str(target_commands)],
+                check=True,
+                capture_output=True,
+                text=True,
+            )
+            print("Successfully synced commands folder")
+
+        # Restart the bluetooth service
+        print("Restarting bluetooth service...")
+        subprocess.run(
+            ["sudo", "systemctl", "restart", "reachy-mini-bluetooth"],
+            check=True,
+            capture_output=True,
+            text=True,
+        )
+        print("Successfully restarted bluetooth service")
+    except subprocess.CalledProcessError as e:
+        print(f"Failed to update bluetooth service: {e.stderr}")
+    except Exception as e:
+        print(f"Unexpected error while updating bluetooth service: {e}")
+
+
+def check_and_update_wireless_launcher() -> None:
+    """Check if wireless daemon service needs updating and update if different.
+
+    Compares the source reachy-mini-daemon.service with the installed version.
+    If they differ, copies the new version and reloads systemd.
+    """
+    source = (
+        Path(__file__).parent
+        / ".."
+        / ".."
+        / "daemon"
+        / "app"
+        / "services"
+        / "wireless"
+        / "reachy-mini-daemon.service"
+    )
+    source = source.resolve()
+    target = Path("/etc/systemd/system/reachy-mini-daemon.service")
+
+    if not source.exists():
+        print(f"Source service file not found at {source}")
+        return
+
+    # Check if target exists
+    if not target.exists():
+        print(f"Wireless daemon service not installed at {target}")
+        return
+
+    # Compare files
+    try:
+        if filecmp.cmp(str(source), str(target), shallow=False):
+            print("Wireless daemon service is up to date")
+            return
+        else:
+            print("Wireless daemon service has changed, updating...")
+    except Exception as e:
+        print(f"Error comparing service files: {e}")
+        return
+
+    # Update service file
+    try:
+        print(f"Copying {source} to {target}")
+        subprocess.run(
+            ["sudo", "cp", str(source), str(target)],
+            check=True,
+            capture_output=True,
+            text=True,
+        )
+        print("Successfully copied service file")
+
+        # Reload systemd daemon
+        print("Reloading systemd daemon...")
+        subprocess.run(
+            ["sudo", "systemctl", "daemon-reload"],
+            check=True,
+            capture_output=True,
+            text=True,
+        )
+        print("Successfully reloaded systemd")
+    except subprocess.CalledProcessError as e:
+        print(f"Failed to update service: {e.stderr}")
+    except Exception as e:
+        print(f"Unexpected error while updating service: {e}")
+
+
+def check_and_sync_apps_venv_sdk() -> None:
+    """Check if the apps_venv SDK version matches daemon and update if needed.
+
+    This ensures that when the daemon is updated, the SDK in the apps_venv
+    is also updated to match, so apps get the latest fixes automatically.
+    """
+    from importlib.metadata import version
+
+    # Get daemon venv SDK version
+    try:
+        daemon_version = version("reachy_mini")
+    except Exception as e:
+        print(f"Could not get daemon SDK version: {e}")
+        return
+
+    # Path to apps_venv python
+    apps_venv_python = Path("/venvs/apps_venv/bin/python")
+    if not apps_venv_python.exists():
+        print("apps_venv not found, skipping SDK sync")
+        return
+
+    # Get apps_venv SDK version
+    try:
+        result = subprocess.run(
+            [
+                str(apps_venv_python),
+                "-c",
+                "from importlib.metadata import version; print(version('reachy_mini'))",
+            ],
+            capture_output=True,
+            text=True,
+            timeout=10,
+        )
+        if result.returncode != 0:
+            print(f"Could not get apps_venv SDK version: {result.stderr}")
+            return
+        apps_version = result.stdout.strip()
+    except subprocess.TimeoutExpired:
+        print("Timeout getting apps_venv SDK version")
+        return
+    except Exception as e:
+        print(f"Error getting apps_venv SDK version: {e}")
+        return
+
+    print(f"Daemon SDK version: {daemon_version}")
+    print(f"Apps venv SDK version: {apps_version}")
+
+    if daemon_version == apps_version:
+        print("Apps venv SDK is up to date")
+        return
+
+    # Versions differ, update apps_venv
+    print(f"Updating apps_venv SDK from {apps_version} to {daemon_version}...")
+    try:
+        # Use uv if available, otherwise pip
+        import shutil
+
+        apps_venv_pip = Path("/venvs/apps_venv/bin/pip")
+        use_uv = shutil.which("uv") is not None
+
+        if use_uv:
+            install_cmd = [
+                "uv",
+                "pip",
+                "install",
+                "--python",
+                str(apps_venv_python),
+                f"reachy-mini[gstreamer]=={daemon_version}",
+            ]
+        else:
+            install_cmd = [
+                str(apps_venv_pip),
+                "install",
+                f"reachy-mini[gstreamer]=={daemon_version}",
+            ]
+
+        result = subprocess.run(
+            install_cmd,
+            capture_output=True,
+            text=True,
+            timeout=300,  # 5 minute timeout for install
+        )
+
+        if result.returncode == 0:
+            print(f"Successfully updated apps_venv SDK to {daemon_version}")
+        else:
+            print(f"Failed to update apps_venv SDK: {result.stderr}")
+    except subprocess.TimeoutExpired:
+        print("Timeout updating apps_venv SDK")
+    except Exception as e:
+        print(f"Error updating apps_venv SDK: {e}")
+
+
+def check_and_fix_restore_venv() -> None:
+    """Check if restore venv has editable install and fix if needed.
+
+    The restore partition at /restore/venvs should have a proper PyPI install,
+    not an editable install. If an editable install is detected, reinstall
+    from PyPI with a known good version.
+    """
+    restore_python = Path("/restore/venvs/mini_daemon/bin/python")
+
+    if not restore_python.exists():
+        print("Restore venv not found, skipping")
+        return
+
+    # Check if editable install
+    try:
+        result = subprocess.run(
+            [str(restore_python), "-m", "pip", "show", "reachy-mini"],
+            capture_output=True,
+            text=True,
+            timeout=30,
+        )
+    except subprocess.TimeoutExpired:
+        print("Timeout checking restore venv")
+        return
+    except Exception as e:
+        print(f"Error checking restore venv: {e}")
+        return
+
+    if "Editable project location" in result.stdout:
+        print("Legacy editable install detected in restore venv, reinstalling...")
+        try:
             subprocess.run(
-                ["sudo", "systemctl", "restart", "reachy-mini-bluetooth"],
+                [str(restore_python), "-m", "pip", "install", "reachy-mini==1.2.8"],
                 check=True,
                 capture_output=True,
                 text=True,
+                timeout=300,
             )
-            print("Successfully restarted bluetooth service")
+            print("Successfully reinstalled reachy-mini in restore venv")
         except subprocess.CalledProcessError as e:
-            print(f"Failed to update bluetooth service: {e.stderr}")
+            print(f"Failed to reinstall in restore venv: {e.stderr}")
+        except subprocess.TimeoutExpired:
+            print("Timeout reinstalling in restore venv")
         except Exception as e:
-            print(f"Unexpected error while updating bluetooth service: {e}")
+            print(f"Error reinstalling in restore venv: {e}")
+    else:
+        print("Restore venv install is correct")
 
 
 if __name__ == "__main__":
     logging.basicConfig(level=logging.INFO)
     check_and_fix_venvs_ownership()
     check_and_update_bluetooth_service()
+    check_and_sync_apps_venv_sdk()

reachy_mini/utils/wireless_version/update.py

@@ -1,20 +1,63 @@
 """Module to handle software updates for the Reachy Mini wireless."""
 
 import logging
+import shutil
+from pathlib import Path
 
 from .utils import call_logger_wrapper
 
 
 async def update_reachy_mini(pre_release: bool, logger: logging.Logger) -> None:
-    """Perform a software update by upgrading the reachy_mini package and restarting the daemon."""
+    """Perform a software update by upgrading the reachy_mini package and restarting the daemon.
+
+    This updates both:
+    - The daemon venv (where the daemon runs)
+    - The apps_venv (where apps run) - to keep SDK in sync
+    """
     extra_args = []
     if pre_release:
         extra_args.append("--pre")
 
+    # Update daemon venv
+    logger.info("Updating daemon venv...")
     await call_logger_wrapper(
         ["pip", "install", "--upgrade", "reachy_mini[wireless-version]"] + extra_args,
         logger,
     )
+
+    # Update apps_venv if it exists
+    apps_venv_python = Path("/venvs/apps_venv/bin/python")
+    if apps_venv_python.exists():
+        logger.info("Updating apps_venv SDK...")
+
+        # Use uv if available for faster installs
+        use_uv = shutil.which("uv") is not None
+
+        if use_uv:
+            install_cmd = [
+                "uv",
+                "pip",
+                "install",
+                "--python",
+                str(apps_venv_python),
+                "--upgrade",
+                "reachy-mini[gstreamer]",
+            ] + extra_args
+        else:
+            apps_venv_pip = Path("/venvs/apps_venv/bin/pip")
+            install_cmd = [
+                str(apps_venv_pip),
+                "install",
+                "--upgrade",
+                "reachy-mini[gstreamer]",
+            ] + extra_args
+
+        await call_logger_wrapper(install_cmd, logger)
+        logger.info("Apps venv SDK updated successfully")
+    else:
+        logger.info("apps_venv not found, skipping apps venv update")
+
+    # Restart daemon to apply updates
     await call_logger_wrapper(
         ["sudo", "systemctl", "restart", "reachy-mini-daemon"], logger
     )

{reachy_mini-1.2.5rc1.dist-info → reachy_mini-1.2.11.dist-info}/METADATA

@@ -1,13 +1,13 @@
 Metadata-Version: 2.4
 Name: reachy_mini
-Version: 1.2.5rc1
+Version: 1.2.11
 Author-email: Pollen Robotics <contact@pollen-robotics.com>
 Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: numpy>=2.2.5
 Requires-Dist: scipy<2.0.0,>=1.15.3
-Requires-Dist: reachy_mini_motor_controller>=1.4.2
+Requires-Dist: reachy_mini_motor_controller>=1.5.3
 Requires-Dist: eclipse-zenoh~=1.7.0
 Requires-Dist: opencv-python<=5.0
 Requires-Dist: cv2_enumerate_cameras>=1.2.1
@@ -16,7 +16,7 @@ Requires-Dist: jinja2
 Requires-Dist: uvicorn[standard]
 Requires-Dist: fastapi
 Requires-Dist: pyserial
-Requires-Dist: huggingface-hub==0.34.4
+Requires-Dist: huggingface-hub==1.3.0
 Requires-Dist: sounddevice==0.5.1
 Requires-Dist: soundfile==0.13.1
 Requires-Dist: reachy-mini-rust-kinematics>=1.0.3
@@ -30,7 +30,9 @@ Requires-Dist: rich
 Requires-Dist: questionary
 Requires-Dist: websockets<16,>=12
 Requires-Dist: toml
-Requires-Dist: rustypot
+Requires-Dist: rustypot>=1.4.2
+Requires-Dist: pyyaml>=6.0
+Requires-Dist: requests>=2.28.0
 Provides-Extra: dev
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: pytest-asyncio; extra == "dev"
@@ -40,7 +42,6 @@ Requires-Dist: mujoco==3.3.0; extra == "dev"
 Requires-Dist: placo==0.9.14; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
 Requires-Dist: mypy==1.18.2; extra == "dev"
-Requires-Dist: rustypot>=1.4.0; extra == "dev"
 Requires-Dist: types-requests; extra == "dev"
 Requires-Dist: types-toml; extra == "dev"
 Requires-Dist: rerun-sdk>=0.27.2; extra == "dev"
@@ -98,7 +99,7 @@ Dynamic: license-file
 Reachy Mini comes with an app store powered by Hugging Face Spaces. You can install these apps directly from your robot's dashboard with one click!
 
 * **🗣️ [Conversation App](https://huggingface.co/spaces/pollen-robotics/reachy_mini_conversation_app):** Talk naturally with Reachy Mini (powered by LLMs).
-* **📻 [Radio](https://huggingface.co/spaces/pollen-robotics/reachy_mini_radio):** Listen to the radio with Reachy Mini !
+* **📻 [Radio](https://huggingface.co/spaces/pollen-robotics/reachy_mini_radio):** Listen to the radio with Reachy Mini!
 * **👋 [Hand Tracker](https://huggingface.co/spaces/pollen-robotics/hand_tracker_v2):** The robot follows your hand movements in real-time.
 
 👉 [**Browse all apps on Hugging Face**](https://hf.co/reachy-mini/#/apps)