Revert "feat: 把 B 端的 视频/控制 都收口到一个本地 daemon 进程里"

This reverts commit d02acdfce2.

Deploy_Tienkung/udp_loopback/README_omnisocket.md

@@ -77,34 +77,3 @@ python3 udp_loopback/omnisocket_xbox_sender.py
 - The original UDP files remain unchanged, so you can switch back by restoring `control_tool: udp_loopback`.
 - OmniSocket keyboard/Xbox mappings are aligned with the cleaned walk-only FSM flow: `ZERO`, `STOP`, and `WALKAMP`.
 - Keyboard sender supports `4/5/6` for clearing `x/y/yaw` speed independently, and `r` still clears all three axes.
-
-## B-side OmniDaemon
-
-The B-side stack now supports a local daemon that owns OmniSocket control receive and manages the video sender worker.
-
-Start the daemon:
-
-```bash
-cd OmniSocketGo
-make b_side_video_sender
-python3 -m pip install -e ./python
-python3 -m omnisocket_b_side.daemon --config config/b_side_omnidaemon.yaml
-```
-
-Or with the helper script:
-
-```bash
-cd OmniSocketGo
-./scripts/start_b_side.sh
-```
-
-With `OMNI_TRANSPORT_BACKEND=daemon` (the default), `OmniSocketFSMController` connects to `/tmp/omnisocket-b-ctrl.sock` and receives raw `ControlPacket` bytes from the daemon instead of creating its own OmniSocket session.
-
-Fallback to the previous direct mode when needed:
-
-```bash
-export OMNI_TRANSPORT_BACKEND=direct
-python3 rl_control_node_sim.py
-```
-
-In simulation / MuJoCo mode, keep `video_sender.enabled: false` in `OmniSocketGo/config/b_side_omnidaemon.yaml` so the daemon only provides the control path and does not require `/dev/video0`.

Deploy_Tienkung/udp_loopback/omnisocket_fsm_controller.py

@@ -2,11 +2,9 @@
 
 from __future__ import annotations
 
-import os
 from pathlib import Path
 import queue
 import struct
-import sys
 import threading
 import time
 from typing import Dict, Optional
@@ -32,24 +30,6 @@ def _load_omnisocket_api():
     return CONTROL_DEFAULTS, MSG_TYPE_BINARY, Session
 
 
-def _load_b_side_control_client():
-    try:
-        from omnisocket_b_side.client import BSideControlClient
-    except ImportError:
-        workspace_root = Path(__file__).resolve().parents[3]
-        python_root = workspace_root / "OmniSocketGo" / "python"
-        if str(python_root) not in sys.path:
-            sys.path.insert(0, str(python_root))
-        try:
-            from omnisocket_b_side.client import BSideControlClient
-        except ImportError as exc:  # pragma: no cover - environment dependent
-            raise RuntimeError(
-                "omnisocket_b_side is not installed. Install it before using "
-                "OMNI_TRANSPORT_BACKEND=daemon."
-            ) from exc
-    return BSideControlClient
-
-
 class OmniSocketFSMFlag(ControlFlag):
     """FSM-facing flag produced from decoded OmniSocket control packets."""
 
@@ -74,11 +54,7 @@ class OmniSocketFSMController:
         self.recv_running = False
         self.recv_thread: Optional[threading.Thread] = None
         self.session = None
-        self.daemon_client = None
         self._msg_type_binary = None
-        self.transport_backend = str(
-            os.getenv("OMNI_TRANSPORT_BACKEND", "daemon")
-        ).strip().lower() or "daemon"
 
     def _load_config(self) -> None:
         config_path = Path(__file__).resolve().parent / "config" / "omnisocket_demo.yaml"
@@ -97,9 +73,6 @@ class OmniSocketFSMController:
         self.bind_ip = str(transport_cfg.get("bind_ip", ""))
         self.bind_device = str(transport_cfg.get("bind_device", ""))
         self.peer_id = str(receiver_cfg.get("peer_id", "peer-b-ctrl"))
-        self.ctrl_socket_path = str(
-            os.getenv("OMNIBDAEMON_CTRL_SOCKET", "/tmp/omnisocket-b-ctrl.sock")
-        )
 
         self.initial_lift = float(motion_cfg.get("initial_lift", 0.89))
         self.lift_step = float(motion_cfg.get("lift_step", 0.05))
@@ -121,36 +94,25 @@ class OmniSocketFSMController:
         self.last_fsm_command_time = 0.0
 
     def start(self) -> None:
-        if self.transport_backend == "daemon":
+        control_defaults, msg_type_binary, session_cls = _load_omnisocket_api()
-            daemon_client_cls = _load_b_side_control_client()
+        self._msg_type_binary = msg_type_binary
-            self.daemon_client = daemon_client_cls(socket_path=self.ctrl_socket_path)
+        self.session = session_cls()
-            self.daemon_client.connect()
+        self.session.connect(
-        else:
+            server_addr=self.server_addr,
-            control_defaults, msg_type_binary, session_cls = _load_omnisocket_api()
+            peer_id=self.peer_id,
-            self._msg_type_binary = msg_type_binary
+            relay_via=self.relay_via,
-            self.session = session_cls()
+            bind_ip=self.bind_ip,
-            self.session.connect(
+            bind_device=self.bind_device,
-                server_addr=self.server_addr,
+            **control_defaults,
-                peer_id=self.peer_id,
+        )
-                relay_via=self.relay_via,
-                bind_ip=self.bind_ip,
-                bind_device=self.bind_device,
-                **control_defaults,
-            )
 
         self.recv_running = True
         self.recv_thread = threading.Thread(target=self._recv_loop, daemon=True)
         self.recv_thread.start()
-        if self.transport_backend == "daemon":
+        print(
-            print(
+            f"OmniSocket FSM controller listening as {self.peer_id} "
-                "OmniSocket FSM controller connected to B-side daemon "
+            f"via {self.server_addr}"
-                f"via {self.ctrl_socket_path}"
+        )
-            )
-        else:
-            print(
-                f"OmniSocket FSM controller listening as {self.peer_id} "
-                f"via {self.server_addr}"
-            )
 
     def stop(self) -> None:
         self.recv_running = False
@@ -159,18 +121,9 @@ class OmniSocketFSMController:
         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
         print("OmniSocket FSM controller stopped")
 
     def _recv_loop(self) -> None:
-        if self.transport_backend == "daemon":
-            self._recv_loop_daemon()
-        else:
-            self._recv_loop_direct()
-
-    def _recv_loop_direct(self) -> None:
         while self.recv_running and self.session is not None:
             item = self.session.recv(timeout_ms=200)
             if item is None:
@@ -184,53 +137,20 @@ class OmniSocketFSMController:
                 )
                 continue
 
-            self._enqueue_payload(payload, from_peer=from_peer)
-
-    def _recv_loop_daemon(self) -> None:
-        while self.recv_running:
-            client = self.daemon_client
-            if client is None:
-                return
             try:
-                payload = client.recv_control_packet(timeout_ms=200)
+                packet = ControlPacket.decode(payload)
-            except OSError as exc:
+            except (ValueError, struct.error) as exc:
-                print(f"[omnisocket_fsm] daemon control socket error: {exc}")
+                print(f"[omnisocket_fsm] drop invalid payload from {from_peer}: {exc}")
-                try:
-                    client.close()
-                except OSError:
-                    pass
-                self.daemon_client = None
-                if not self.recv_running:
-                    return
-                time.sleep(0.5)
-                try:
-                    daemon_client_cls = _load_b_side_control_client()
-                    self.daemon_client = daemon_client_cls(socket_path=self.ctrl_socket_path)
-                    self.daemon_client.connect()
-                except OSError as reconnect_error:
-                    print(f"[omnisocket_fsm] reconnect daemon socket failed: {reconnect_error}")
-                    time.sleep(0.5)
                 continue
 
-            if payload is None:
-                continue
-            self._enqueue_payload(payload, from_peer="daemon")
-
-    def _enqueue_payload(self, payload: bytes, *, from_peer: str) -> None:
-        try:
-            packet = ControlPacket.decode(payload)
-        except (ValueError, struct.error) as exc:
-            print(f"[omnisocket_fsm] drop invalid payload from {from_peer}: {exc}")
-            return
-
-        try:
-            self.packet_queue.put_nowait(packet)
-        except queue.Full:
             try:
-                self.packet_queue.get_nowait()
                 self.packet_queue.put_nowait(packet)
-            except queue.Empty:
+            except queue.Full:
-                pass
+                try:
+                    self.packet_queue.get_nowait()
+                    self.packet_queue.put_nowait(packet)
+                except queue.Empty:
+                    pass
 
     def update_flag(self) -> None:
         while not self.packet_queue.empty():