Revert "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。"

This reverts commit 38991ca9d8.

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/config/omnisocket_demo.yaml

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

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":
-            daemon_client_cls = _load_b_side_control_client()
-            self.daemon_client = daemon_client_cls(socket_path=self.ctrl_socket_path)
-            self.daemon_client.connect()
-        else:
-            control_defaults, msg_type_binary, session_cls = _load_omnisocket_api()
-            self._msg_type_binary = msg_type_binary
-            self.session = session_cls()
-            self.session.connect(
-                server_addr=self.server_addr,
-                peer_id=self.peer_id,
-                relay_via=self.relay_via,
-                bind_ip=self.bind_ip,
-                bind_device=self.bind_device,
-                **control_defaults,
-            )
+        control_defaults, msg_type_binary, session_cls = _load_omnisocket_api()
+        self._msg_type_binary = msg_type_binary
+        self.session = session_cls()
+        self.session.connect(
+            server_addr=self.server_addr,
+            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(
-                "OmniSocket FSM controller connected to B-side daemon "
-                f"via {self.ctrl_socket_path}"
-            )
-        else:
-            print(
-                f"OmniSocket FSM controller listening as {self.peer_id} "
-                f"via {self.server_addr}"
-            )
+        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)
-            except OSError as exc:
-                print(f"[omnisocket_fsm] daemon control socket error: {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)
+                packet = ControlPacket.decode(payload)
+            except (ValueError, struct.error) as exc:
+                print(f"[omnisocket_fsm] drop invalid payload from {from_peer}: {exc}")
                 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:
-                pass
+            except queue.Full:
+                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():

Deploy_Tienkung/udp_loopback/omnisocket_keyboard_sender.py

@@ -1,4 +1,4 @@
-"""Keyboard sender that emits control events through OmniDaemon or OmniSocket."""
+"""Keyboard sender that emits binary control packets over OmniSocket."""
 
 from __future__ import annotations
 
@@ -9,9 +9,8 @@ import signal
 import sys
 import termios
 import threading
-import time
 import tty
-from typing import Dict
+from typing import Dict, Optional
 
 import yaml
 
@@ -21,55 +20,32 @@ 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 direct transport mode."
+            "omnisocket is not installed. Install it before using "
+            "omnisocket_keyboard_sender.py."
         ) from exc
     return CONTROL_DEFAULTS, Session
 
 
 class OmniSocketKeyboardSender:
-    """Standalone keyboard sender for A-side control-plane testing."""
+    """Standalone keyboard sender for OmniSocket 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.daemon_client = None
-        self.input_thread: threading.Thread | None = None
+        self.input_thread: Optional[threading.Thread] = None
         self.original_terminal_settings = None
 
         self._load_config()
-        self._init_transport()
+        self._init_session()
         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():
@@ -88,12 +64,7 @@ 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_transport(self) -> None:
-        if self.backend == "daemon":
-            daemon_client_cls = _load_daemon_client_api()
-            self.daemon_client = daemon_client_cls()
-            return
-
+    def _init_session(self) -> None:
         control_defaults, session_cls = _load_omnisocket_api()
         self.session = session_cls()
         self.session.connect(
@@ -107,11 +78,7 @@ 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(f"Peer: {self.peer_id} -> {self.target_peer} via {self.server_addr}")
         print("Keys:")
         print("  z -> pose_home")
         print("  c -> pose_hold")
@@ -161,11 +128,6 @@ 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
@@ -224,34 +186,16 @@ 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)
-                payload = packet.encode()
-                self.seq_id += 1
-                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)} backend=direct"
-                )
-        except Exception as error:
-            print(f"send failed for {event_code}: {error}")
+        if self.session is None:
             return
-
+        packet = make_control_packet(self.seq_id, event_code, drive_value)
+        payload = packet.encode()
+        self.seq_id += 1
+        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)}"
+        )
         if event_code == "session_quit":
             self.running = False
 

Deploy_Tienkung/udp_loopback/omnisocket_xbox_sender.py

@@ -1,11 +1,8 @@
-"""ROS2 Joy bridge for OmniDaemon or direct OmniSocket control."""
+"""ROS2 Joy -> OmniSocket bridge for Xbox control."""
 
 from __future__ import annotations
 
-import os
 from pathlib import Path
-import sys
-import time
 from typing import Dict
 
 import rclpy
@@ -20,48 +17,30 @@ 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 direct transport mode."
+            "omnisocket is not installed. Install it before using "
+            "omnisocket_xbox_sender.py."
         ) from exc
     return CONTROL_DEFAULTS, Session
 
 
 class OmniSocketXboxSender(Node):
-    """Subscribe to Joy messages and forward them through the selected backend."""
+    """Subscribe to Joy messages and forward them through OmniSocket."""
 
     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_transport()
+        self._init_session()
 
         qos_profile = QoSProfile(
             reliability=ReliabilityPolicy.RELIABLE,
@@ -73,25 +52,17 @@ class OmniSocketXboxSender(Node):
         )
 
         self.get_logger().info(
-            f"Forwarding {self.joy_topic} via {self.backend} "
-            f"from {self.peer_id} to {self.target_peer}"
+            f"Forwarding {self.joy_topic} -> OmniSocket "
+            f"{self.peer_id} -> {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:
@@ -184,12 +155,7 @@ class OmniSocketXboxSender(Node):
                 except (TypeError, ValueError):
                     pass
 
-    def _init_transport(self) -> None:
-        if self.backend == "daemon":
-            daemon_client_cls = _load_daemon_client_api()
-            self.daemon_client = daemon_client_cls()
-            return
-
+    def _init_session(self) -> None:
         control_defaults, session_cls = _load_omnisocket_api()
         self.session = session_cls()
         self.session.connect(
@@ -291,40 +257,14 @@ 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)
-                self.seq_id += 1
-                self.session.send(to=self.target_peer, data=packet.encode())
-                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
+        if self.session is None:
+            return
+        packet = make_control_packet(self.seq_id, event_code, drive_value)
+        self.seq_id += 1
+        self.session.send(to=self.target_peer, data=packet.encode())
+        self.get_logger().debug(
+            f"sent seq={packet.seq_id} event={event_code} key={key_name}"
+        )
 
 
 def main(args: list[str] | None = None) -> None: