服务器：
ssh bj-txy
cd OmniSocketGo
./bin/kcpserver -listen 0.0.0.0:10909

ssh gz-txy
cd OmniSocketGo
./bin/kcpserver -mode=relay -listen 0.0.0.0:10909 -relay-remote 172.21.32.15:10909

MuJoCo端：
终端1：
source /opt/ros/humble/setup.zsh
export ROS_DOMAIN_ID=10
cd tienkung-szu/xSIM_MUJOCO
python scripts/simulator_view_asyn.py -m evt2

终端2：
source /opt/ros/humble/setup.zsh
export ROS_DOMAIN_ID=10
cd tienkung-szu/Deploy_Tienkung
python3 rl_control_node_sim.py

控制端：
键盘控制：
cd tienkung-szu/Deploy_Tienkung
python3 udp_loopback/omnisocket_keyboard_sender.py

xbox:
终端1：
source /opt/ros/humble/setup.bash
ros2 run joy joy_node --ros-args -r joy:=/xbox_data

终端2：
cd tienkung-szu/Deploy_Tienkung
python3 udp_loopback/omnisocket_xbox_sender.py

# OmniSocket Integration

This repo now supports an OmniSocket-based control path alongside the original UDP loopback.

## Files

- `omnisocket_control.py`: binary control packet codec shared by sender/receiver.
- `omnisocket_keyboard_sender.py`: keyboard -> OmniSocket sender.
- `omnisocket_xbox_sender.py`: ROS2 `/xbox_data` -> OmniSocket sender.
- `omnisocket_fsm_controller.py`: OmniSocket receiver that converts packets into `ControlFlag`.
- `config/omnisocket_demo.yaml`: OmniSocket transport config template.

## Main-node integration

Set `control_tool: omnisocket_loopback` in `config/dex_config.yaml`, then run `rl_control_node.py` or `rl_control_node_sim.py`.

The main node will instantiate `OmniSocketFSMController`, which receives binary control packets and maps them into the same FSM commands used by the UDP loopback path.

## Sender usage

Keyboard sender:

```bash
cd Deploy_Tienkung
python3 udp_loopback/omnisocket_keyboard_sender.py
```

Xbox sender:

```bash
cd Deploy_Tienkung
source /opt/ros/jazzy/setup.bash
ros2 run joy joy_node --ros-args -r joy:=/xbox_data
python3 udp_loopback/omnisocket_xbox_sender.py
```

## Notes

- Install the `omnisocket` Python package before using this path.
- `omnisocket_xbox_sender.py` still reuses `config/dex_config.yaml` for Xbox axis/button overrides so it stays aligned with the existing repo configuration.
- 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`.