feat: 把 A 端的 Session/KCP/视频/控制 都收口到一个本地 daemon 进程里，Django 和输入发送端都改成通过本机 UDS HTTP 去访问它，同时补齐了观测、性能和可用性上的几个关键问题。

Deploy_Tienkung/udp_loopback/config/omnisocket_demo.yaml

@@ -1,5 +1,5 @@
 transport:
-  server_addr: 81.70.156.140:10909
+  server_addr: ""
   relay_via: 106.55.173.235:10909
   bind_ip: ""
   bind_device: ""

Deploy_Tienkung/udp_loopback/omnisocket_keyboard_sender.py

@@ -1,4 +1,4 @@
-"""Keyboard sender that emits binary control packets over OmniSocket."""
+"""Keyboard sender that emits control events through OmniDaemon or OmniSocket."""
 
 from __future__ import annotations
 
@@ -9,8 +9,9 @@ import signal
 import sys
 import termios
 import threading
+import time
 import tty
-from typing import Dict, Optional
+from typing import Dict
 
 import yaml
 
@@ -20,32 +21,55 @@ except ImportError:  # pragma: no cover - direct script execution fallback
     from omnisocket_control import make_control_packet
 
 
+WORKSPACE_ROOT = Path(__file__).resolve().parents[3]
+DEFAULT_BACKEND = "daemon"
+
+
+def _load_daemon_client_api():
+    try:
+        from omnisocket_a_side.client import OmniDaemonClient
+    except ImportError:
+        python_dir = WORKSPACE_ROOT / "OmniSocketGo" / "python"
+        if python_dir.exists():
+            sys.path.insert(0, str(python_dir))
+        from omnisocket_a_side.client import OmniDaemonClient
+    return OmniDaemonClient
+
+
 def _load_omnisocket_api():
     try:
         from omnisocket import CONTROL_DEFAULTS, Session
     except ImportError as exc:  # pragma: no cover - environment dependent
         raise RuntimeError(
-            "omnisocket is not installed. Install it before using "
+            "omnisocket is not installed. Install it before using direct transport mode."
-            "omnisocket_keyboard_sender.py."
         ) from exc
     return CONTROL_DEFAULTS, Session
 
 
 class OmniSocketKeyboardSender:
-    """Standalone keyboard sender for OmniSocket control-plane testing."""
+    """Standalone keyboard sender for A-side control-plane testing."""
 
     def __init__(self) -> None:
         self.config: Dict[str, object] = {}
+        self.backend = self._resolve_backend()
         self.seq_id = 0
         self.running = False
         self.session = None
-        self.input_thread: Optional[threading.Thread] = None
+        self.daemon_client = None
+        self.input_thread: threading.Thread | None = None
         self.original_terminal_settings = None
 
         self._load_config()
-        self._init_session()
+        self._init_transport()
         self._print_help()
 
+    @staticmethod
+    def _resolve_backend() -> str:
+        backend = os.getenv("OMNI_TRANSPORT_BACKEND", DEFAULT_BACKEND).strip().lower()
+        if backend not in {"daemon", "direct"}:
+            return DEFAULT_BACKEND
+        return backend
+
     def _load_config(self) -> None:
         config_path = Path(__file__).resolve().parent / "config" / "omnisocket_demo.yaml"
         if config_path.exists():
@@ -64,7 +88,12 @@ class OmniSocketKeyboardSender:
         self.peer_id = str(sender_cfg.get("peer_id", "peer-a-ctrl"))
         self.target_peer = str(sender_cfg.get("target_peer", "peer-b-ctrl"))
 
-    def _init_session(self) -> None:
+    def _init_transport(self) -> None:
+        if self.backend == "daemon":
+            daemon_client_cls = _load_daemon_client_api()
+            self.daemon_client = daemon_client_cls()
+            return
+
         control_defaults, session_cls = _load_omnisocket_api()
         self.session = session_cls()
         self.session.connect(
@@ -78,6 +107,10 @@ class OmniSocketKeyboardSender:
 
     def _print_help(self) -> None:
         print("OmniSocket keyboard sender ready")
+        print(f"Backend: {self.backend}")
+        if self.backend == "daemon":
+            print(f"Daemon socket: {os.getenv('OMNIDAEMON_SOCKET', '/tmp/omnisocket-a-side.sock')}")
+        else:
             print(f"Peer: {self.peer_id} -> {self.target_peer} via {self.server_addr}")
         print("Keys:")
         print("  z -> pose_home")
@@ -128,6 +161,11 @@ class OmniSocketKeyboardSender:
         except KeyboardInterrupt:
             self._handle_ctrl_c()
         finally:
+            if self.daemon_client is not None:
+                try:
+                    self.daemon_client.close()
+                except Exception:
+                    pass
             if self.original_terminal_settings is not None:
                 termios.tcsetattr(
                     sys.stdin, termios.TCSADRAIN, self.original_terminal_settings
@@ -186,6 +224,20 @@ class OmniSocketKeyboardSender:
     def _send_event(
         self, event_code: str, key_name: str, drive_value: float = 1.0
     ) -> None:
+        try:
+            if self.backend == "daemon":
+                assert self.daemon_client is not None
+                result = self.daemon_client.send_control_event(
+                    source="keyboard-sender",
+                    event_code=event_code,
+                    drive_value=drive_value,
+                    client_time_ms=int(time.time() * 1000),
+                )
+                print(
+                    f"sent seq={result.get('assigned_seq_id')} event={event_code} "
+                    f"key={key_name} backend=daemon"
+                )
+            else:
                 if self.session is None:
                     return
                 packet = make_control_packet(self.seq_id, event_code, drive_value)
@@ -194,8 +246,12 @@ class OmniSocketKeyboardSender:
                 self.session.send(to=self.target_peer, data=payload)
                 print(
                     f"sent seq={packet.seq_id} event={event_code} key={key_name} "
-            f"bytes={len(payload)}"
+                    f"bytes={len(payload)} backend=direct"
                 )
+        except Exception as error:
+            print(f"send failed for {event_code}: {error}")
+            return
+
         if event_code == "session_quit":
             self.running = False
 

Deploy_Tienkung/udp_loopback/omnisocket_xbox_sender.py

@@ -1,8 +1,11 @@
-"""ROS2 Joy -> OmniSocket bridge for Xbox control."""
+"""ROS2 Joy bridge for OmniDaemon or direct OmniSocket control."""
 
 from __future__ import annotations
 
+import os
 from pathlib import Path
+import sys
+import time
 from typing import Dict
 
 import rclpy
@@ -17,30 +20,48 @@ except ImportError:  # pragma: no cover - direct script execution fallback
     from omnisocket_control import make_control_packet
 
 
+WORKSPACE_ROOT = Path(__file__).resolve().parents[3]
+DEFAULT_BACKEND = "daemon"
+
+
+def _load_daemon_client_api():
+    try:
+        from omnisocket_a_side.client import OmniDaemonClient
+    except ImportError:
+        python_dir = WORKSPACE_ROOT / "OmniSocketGo" / "python"
+        if python_dir.exists():
+            sys.path.insert(0, str(python_dir))
+        from omnisocket_a_side.client import OmniDaemonClient
+    return OmniDaemonClient
+
+
 def _load_omnisocket_api():
     try:
         from omnisocket import CONTROL_DEFAULTS, Session
     except ImportError as exc:  # pragma: no cover - environment dependent
         raise RuntimeError(
-            "omnisocket is not installed. Install it before using "
+            "omnisocket is not installed. Install it before using direct transport mode."
-            "omnisocket_xbox_sender.py."
         ) from exc
     return CONTROL_DEFAULTS, Session
 
 
 class OmniSocketXboxSender(Node):
-    """Subscribe to Joy messages and forward them through OmniSocket."""
+    """Subscribe to Joy messages and forward them through the selected backend."""
 
     def __init__(self) -> None:
         super().__init__("omnisocket_xbox_sender")
         self.config: Dict[str, object] = {}
+        self.backend = self._resolve_backend()
         self.seq_id = 0
         self.last_buttons: Dict[str, int] = {}
         self.last_dpad_h = 0.0
         self.session = None
+        self.daemon_client = None
+        self._last_transport_error = ""
+        self._last_transport_error_at = 0.0
 
         self._load_config()
-        self._init_session()
+        self._init_transport()
 
         qos_profile = QoSProfile(
             reliability=ReliabilityPolicy.RELIABLE,
@@ -52,17 +73,25 @@ class OmniSocketXboxSender(Node):
         )
 
         self.get_logger().info(
-            f"Forwarding {self.joy_topic} -> OmniSocket "
+            f"Forwarding {self.joy_topic} via {self.backend} "
-            f"{self.peer_id} -> {self.target_peer}"
+            f"from {self.peer_id} to {self.target_peer}"
-        )
-        self.get_logger().info(
-            "Buttons: A=WALKAMP X=ZERO Y=STOP START=reset"
         )
+        self.get_logger().info("Buttons: A=WALKAMP X=ZERO Y=STOP START=reset")
+
+    @staticmethod
+    def _resolve_backend() -> str:
+        backend = os.getenv("OMNI_TRANSPORT_BACKEND", DEFAULT_BACKEND).strip().lower()
+        if backend not in {"daemon", "direct"}:
+            return DEFAULT_BACKEND
+        return backend
 
     def destroy_node(self) -> bool:
         if self.session is not None:
             self.session.close()
             self.session = None
+        if self.daemon_client is not None:
+            self.daemon_client.close()
+            self.daemon_client = None
         return super().destroy_node()
 
     def _load_config(self) -> None:
@@ -155,7 +184,12 @@ class OmniSocketXboxSender(Node):
                 except (TypeError, ValueError):
                     pass
 
-    def _init_session(self) -> None:
+    def _init_transport(self) -> None:
+        if self.backend == "daemon":
+            daemon_client_cls = _load_daemon_client_api()
+            self.daemon_client = daemon_client_cls()
+            return
+
         control_defaults, session_cls = _load_omnisocket_api()
         self.session = session_cls()
         self.session.connect(
@@ -257,6 +291,19 @@ class OmniSocketXboxSender(Node):
     def _send_event(
         self, event_code: str, key_name: str, drive_value: float = 1.0
     ) -> None:
+        try:
+            if self.backend == "daemon":
+                assert self.daemon_client is not None
+                result = self.daemon_client.send_control_event(
+                    source="xbox-sender",
+                    event_code=event_code,
+                    drive_value=drive_value,
+                    client_time_ms=int(time.time() * 1000),
+                )
+                self.get_logger().debug(
+                    f"sent seq={result.get('assigned_seq_id')} event={event_code} key={key_name}"
+                )
+            else:
                 if self.session is None:
                     return
                 packet = make_control_packet(self.seq_id, event_code, drive_value)
@@ -265,6 +312,19 @@ class OmniSocketXboxSender(Node):
                 self.get_logger().debug(
                     f"sent seq={packet.seq_id} event={event_code} key={key_name}"
                 )
+            self._last_transport_error = ""
+        except Exception as error:
+            self._report_transport_error(str(error))
+
+    def _report_transport_error(self, message: str) -> None:
+        now = time.monotonic()
+        if (
+            message != self._last_transport_error
+            or now - self._last_transport_error_at >= 2.0
+        ):
+            self.get_logger().warning(f"control send failed via {self.backend}: {message}")
+            self._last_transport_error = message
+            self._last_transport_error_at = now
 
 
 def main(args: list[str] | None = None) -> None: