# Dev Startup Scripts

This directory lives inside the `OmniSocketGo` repo and acts as the main launch entry for the whole local setup.

Default layout:

```text
~/Documents/
  OmniSocketGo/
    scripts/dev/
  robot-command-center/
```

The scripts assume:

- `OmniSocketGo` is the current repo
- `robot-command-center` is a sibling directory next to it

If your `robot-command-center` is elsewhere, set `ROBOT_COMMAND_CENTER_ROOT` in `robot-remote.env.local`.
`start-backend.sh` and `start-frontend.sh` need that repo; `start-ros-receiver.sh` and `start-b-side-omnid.sh` do not.

## Files

- `robot-remote.env`: shared defaults for backend, frontend, ROS, and `b_side_omnid`
- `robot-remote.env.local`: optional local override file loaded after `robot-remote.env`
- `load-env.sh`: loads the shared environment into the current shell
- `start-backend.sh`: starts Django ASGI with `uvicorn`
- `start-frontend.sh`: starts the Vite dev server
- `start-ros-receiver.sh`: starts the ROS2 `udp_teleop_bridge` receiver
- `start-b-side-omnid.sh`: starts `./bin/b_side_omnid` and uses `sudo -E` by default
- `start-dev-tmux.sh`: optional one-command `tmux` launcher for all four processes

## Usage

Run these from the `OmniSocketGo` repo root:

```bash
bash scripts/dev/start-backend.sh
bash scripts/dev/start-frontend.sh
bash scripts/dev/start-ros-receiver.sh
bash scripts/dev/start-b-side-omnid.sh
```

If you prefer one command and use `tmux`:

```bash
bash scripts/dev/start-dev-tmux.sh
```

If you only want the shared environment for manual commands:

```bash
source scripts/dev/load-env.sh
```

## Customizing

Edit `scripts/dev/robot-remote.env` for shared changes such as:

- `ROBOT_COMMAND_CENTER_ROOT`
- `CONTROL_SIDE_OMNISOCKET_SERVER_ADDR`
- `CONTROL_SIDE_OMNISOCKET_RELAY_VIA`
- `ROBOT_SIDE_OMNISOCKET_SERVER_ADDR`
- `ROBOT_SIDE_OMNISOCKET_RELAY_VIA`
- `VITE_API_BASE_URL`
- `OMNI_CAMERA_DEVICE`
- `OMNI_VIDEO_PEER_ID`
- `OMNI_CONTROL_PEER_ID`

Role mapping:

- `start-backend.sh` uses the `CONTROL_SIDE_*` address pair
- `start-b-side-omnid.sh` uses the `ROBOT_SIDE_*` address pair
- `start-ros-receiver.sh` defaults to the robot-side address pair, but with `transport=unix_dgram` it usually does not need the server address

Put machine-specific overrides into `scripts/dev/robot-remote.env.local`. Example:

```bash
ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
OMNI_CAMERA_DEVICE="/dev/video30"
B_SIDE_OMNID_USE_SUDO="0"
```