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COMMIT_EDITMSG
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Organize host and robot streaming releases
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407
NETWORK_LINK_STARTUP_GUIDE.md
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NETWORK_LINK_STARTUP_GUIDE.md
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# OmniSocketGo 视频链路启动与单中转切换指南
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本文档记录两种运行方式：
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1. 当前已经验证通过的机器人网线直连主机模式。
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2. 后续计划使用的一台公网 KCP Hub 单中转模式。
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当前直连模式的主机地址为 `192.168.41.144`，KCP 使用 UDP `10909`。后续公网模式中的 `<D_PUBLIC_IP>` 需要替换为实际中转服务器公网 IP。
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## 1. 两种模式的区别
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| 项目 | 网线直连 | 单公网中转 |
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| --- | --- | --- |
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| KCP Hub 位置 | 当前控制主机 | 公网服务器 D |
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| 两端连接地址 | `192.168.41.144:10909` | `<D_PUBLIC_IP>:10909` |
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| 主机 `relay_via` | 空 | 空 |
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| 机器人 `relay_via` | 空 | 空 |
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| 主机是否启动本地 Hub | 是 | 否 |
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| 公网服务器是否启动 Hub | 否 | 是 |
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| 视频路径 | 机器人 → 当前主机 | 机器人 → D → 当前主机 |
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单中转模式仍然有 `机器人 ↔ D` 和 `D ↔ 当前主机` 两条 KCP 会话，但只经过一台第三方服务器。
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## 2. 当前网线直连模式
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### 2.1 网络拓扑
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```text
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机器人网口，例如 192.168.41.145/24
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│
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│ UDP 10909
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▼
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当前控制主机 192.168.41.144
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│
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└── 本地 KCP Hub
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```
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机器人与当前主机必须在同一网段。先在机器人上确认：
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```bash
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ping -c 3 192.168.41.144
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```
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### 2.2 直连配置检查
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当前控制主机配置文件：
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```text
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/home/ps/Desktop/OmniSocketGo_add_camera/scripts/dev/robot-remote.env.local
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```
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关键配置应为：
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```bash
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CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="192.168.41.144:10909"
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CONTROL_SIDE_OMNISOCKET_RELAY_VIA=""
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LOCAL_HUB_LISTEN_ADDR="0.0.0.0:10909"
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```
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准备移植到机器人的项目配置文件：
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```text
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OmniSocketGo_robot/scripts/dev/robot-remote.env.local
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```
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关键配置应为：
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```bash
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ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="192.168.41.144:10909"
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ROBOT_SIDE_OMNISOCKET_RELAY_VIA=""
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ROBOT_RECEIVER_SERVER_ADDR="192.168.41.144:10909"
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ROBOT_RECEIVER_RELAY_VIA=""
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OMNI_VIDEO_SERVER_ADDR="192.168.41.144:10909"
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OMNI_VIDEO_RELAY_VIA=""
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OMNI_CONTROL_SERVER_ADDR="192.168.41.144:10909"
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OMNI_CONTROL_RELAY_VIA=""
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```
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### 2.3 当前主机启动命令
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以下命令分别在三个终端中运行，顺序为：本地 Hub、后端、前端。
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#### 终端 1：启动本地 KCP Hub
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```bash
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cd /home/ps/Desktop/OmniSocketGo_add_camera
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# 第一次运行或可执行文件不存在时构建
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make bin/kcpserver
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# 确认 10909/UDP 没有被另一个 Hub 占用
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ss -lunp | grep ':10909' || true
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bash scripts/dev/start-local-hub.sh
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```
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正常启动会看到类似输出：
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```text
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[start-local-hub] listen=0.0.0.0:10909 relay=disabled
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kcp hub listening on 0.0.0.0:10909
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```
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如果已经有正确的 `kcpserver` 在监听 UDP 10909，不要重复启动。
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#### 终端 2：启动 robot-command-center 后端
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```bash
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cd /home/ps/Desktop/OmniSocketGo_add_camera
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# 先确认 8001/TCP 是否已经存在后端服务
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ss -ltnp | grep ':8001' || true
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bash scripts/dev/start-backend.sh
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```
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如果出现：
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```text
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address already in use
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```
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说明 8001 已有服务。先执行：
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```bash
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sudo lsof -nP -iTCP:8001 -sTCP:LISTEN
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```
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如果它是已经启动成功的当前后端，直接复用，不要再启动第二份；如果确认是过期进程，再对查到的具体 PID 执行普通 `kill <PID>` 后重新启动。
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#### 终端 3：启动前端
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```bash
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cd /home/ps/Desktop/OmniSocketGo_add_camera
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bash scripts/dev/start-frontend.sh
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```
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浏览器访问：
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```text
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http://127.0.0.1:5173
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```
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### 2.4 机器人端启动命令
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把 `OmniSocketGo_robot` 项目复制到机器人后，在机器人终端执行：
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```bash
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cd /path/to/OmniSocketGo_robot
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# 检查网络、两台相机、FFmpeg 依赖和直连配置
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./check-robot-lan.sh
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# 如果机器人原有开机服务正在占用相机，先停掉对应旧服务
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sudo systemctl stop blitz-watchdog.service blitz-b-side-omnid.service
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# 自动构建并启动机器人视频/控制 daemon
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./start-robot-lan.sh
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```
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如果机器人上没有安装上述 systemd 服务，`systemctl stop` 报“unit not found”可以忽略，继续执行 `./start-robot-lan.sh`。
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双相机正常打开时会看到：
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```text
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[video_pipeline] camera head ready on ...
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[video_pipeline] camera waist ready on ...
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```
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随后周期日志应满足：
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```text
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video registered=1
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frames 持续增加
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```
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### 2.5 直连模式验证
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在当前控制主机执行：
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```bash
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curl -s http://127.0.0.1:8001/api/video/status/ | python3 -m json.tool
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```
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重点检查：
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```text
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connected: true
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registered: true
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has_recent_frame: true
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server_addr: 192.168.41.144:10909
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relay_via: 空
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frames_received: 持续增加
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```
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机器人端也可以查看运行状态：
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```bash
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cd /path/to/OmniSocketGo_robot
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python3 -m json.tool logs/runtime/b-side-omnid.status.json
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```
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## 3. 后续切换为单公网 KCP Hub 中转
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### 3.1 目标拓扑
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```text
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机器人 B ── KCP/UDP ──▶ 公网服务器 D ◀── KCP/UDP ── 当前主机 A
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KCP Hub
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```
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视频方向是：
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```text
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机器人 B → 公网服务器 D → 当前主机 A
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```
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两端都主动连接 D，因此机器人和当前主机即使都位于 NAT 后面，也不需要在本地暴露 UDP 端口。
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### 3.2 公网服务器准备计划
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在公网服务器 D 上部署与两端相同版本的 OmniSocketGo。首次验证建议以前台方式启动，便于直接观察日志：
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```bash
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cd /path/to/OmniSocketGo
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make bin/kcpserver
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mkdir -p logs
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./bin/kcpserver \
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-listen 0.0.0.0:10909 \
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-telemetry-peer peer-a-telemetry \
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-telemetry-interval 1000ms \
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-kcp-session-stats-log logs/d-kcp-stats.jsonl \
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-kcp-session-stats-interval 1000ms
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```
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公网服务器同时需要：
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1. 云安全组允许入站 UDP `10909`。
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2. 操作系统防火墙允许入站 UDP `10909`。
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3. 公网 IP 固定，或者使用解析稳定的域名。
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4. 出站 UDP 不被限制。
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检查监听状态：
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```bash
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ss -lunp | grep ':10909'
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```
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必须启动默认的 KCP Hub 模式，不能使用：
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```text
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-mode=relay
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```
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`-mode=relay` 只是原始 UDP 转发器，不能代替按 Peer ID 路由消息的 KCP Hub。
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### 3.3 当前主机计划修改
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修改：
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```text
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/home/ps/Desktop/OmniSocketGo_add_camera/scripts/dev/robot-remote.env.local
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```
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计划改为：
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```bash
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CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="<D_PUBLIC_IP>:10909"
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CONTROL_SIDE_OMNISOCKET_RELAY_VIA=""
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```
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切换后当前主机不再启动：
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```bash
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bash scripts/dev/start-local-hub.sh
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```
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只启动后端和前端：
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```bash
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cd /home/ps/Desktop/OmniSocketGo_add_camera
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bash scripts/dev/start-backend.sh
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```
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另开终端：
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```bash
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cd /home/ps/Desktop/OmniSocketGo_add_camera
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bash scripts/dev/start-frontend.sh
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```
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前端仍然访问本机后端，前端代码和 `VITE_API_BASE_URL` 不需要因为 KCP 中转而修改。
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### 3.4 机器人端计划修改
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修改机器人项目中的：
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```text
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scripts/dev/robot-remote.env.local
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```
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所有网络目标统一改成同一个公网 D，所有 `relay_via` 保持为空：
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```bash
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ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="<D_PUBLIC_IP>:10909"
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ROBOT_SIDE_OMNISOCKET_RELAY_VIA=""
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ROBOT_RECEIVER_SERVER_ADDR="<D_PUBLIC_IP>:10909"
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ROBOT_RECEIVER_RELAY_VIA=""
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OMNI_VIDEO_SERVER_ADDR="<D_PUBLIC_IP>:10909"
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OMNI_VIDEO_RELAY_VIA=""
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OMNI_VIDEO_PEER_ID="peer-b-video"
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OMNI_VIDEO_TARGET_PEER="peer-a-video"
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OMNI_CONTROL_SERVER_ADDR="<D_PUBLIC_IP>:10909"
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OMNI_CONTROL_RELAY_VIA=""
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OMNI_CONTROL_PEER_ID="peer-b-ctrl"
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OMNI_CONTROL_EXPECTED_SENDER="peer-a-ctrl"
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```
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Peer ID 不要修改。D 根据 `peer-b-video → peer-a-video` 路由视频，根据控制 Peer ID 路由控制指令和相机切换确认。
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如果机器人通过 5G 访问 D，还需要让系统明确从 5G 接口访问 D：
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```bash
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BLITZ_5G_ROUTE_TARGETS="<D_PUBLIC_IP>"
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OMNI_5G_LINK_LOG_ENABLED="1"
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```
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具体路由需要在机器人上用以下命令确认：
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```bash
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ip route get <D_PUBLIC_IP>
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```
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结果应显示预期的 5G 网卡和源地址。
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### 3.5 单中转启动顺序
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1. 在公网服务器 D 启动 `kcpserver` Hub。
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2. 在当前主机启动 `start-backend.sh`，让 `peer-a-video`、控制 ACK 和 telemetry Peer 先注册。
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3. 在机器人启动 `start-robot-lan.sh` 或 `start-b-side-omnid.sh`。
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4. 在当前主机启动前端。
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5. 验证视频帧、相机切换、控制命令和 ACK。
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### 3.6 单中转验证
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当前主机执行：
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|
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```bash
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curl -s http://127.0.0.1:8001/api/video/status/ | python3 -m json.tool
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```
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预期关键字段：
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|
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```text
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connected: true
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||||
registered: true
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has_recent_frame: true
|
||||
server_addr: <D_PUBLIC_IP>:10909
|
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relay_via: 空
|
||||
frames_received: 持续增加
|
||||
```
|
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|
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机器人周期日志应显示：
|
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|
||||
```text
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video registered=1
|
||||
control registered=1
|
||||
frames 持续增加
|
||||
```
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||||
|
||||
公网 D 应能看到来自机器人和当前主机的 KCP 会话。若两端都显示 `registered=false`，优先检查 UDP 10909 安全组、防火墙和机器人公网路由。
|
||||
|
||||
## 4. 与原始双服务器模式的关系
|
||||
|
||||
原项目曾使用两台第三方服务器：
|
||||
|
||||
```text
|
||||
机器人 B → KCP Hub D → UDP Relay C → 当前主机 A
|
||||
```
|
||||
|
||||
其中主机侧配置类似：
|
||||
|
||||
```bash
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CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="<D地址>:10909"
|
||||
CONTROL_SIDE_OMNISOCKET_RELAY_VIA="<C地址>:10909"
|
||||
```
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||||
|
||||
机器人侧直接连接 D。`relay_via` 非空时，它会成为实际 UDP 发送目标。本文计划的一次中转不需要 C，所以主机和机器人两侧的 `relay_via` 都必须为空。
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||||
|
||||
## 5. 回退到网线直连
|
||||
|
||||
如果公网链路尚未调通，回退不需要修改代码：
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||||
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||||
1. 把当前主机 `CONTROL_SIDE_OMNISOCKET_SERVER_ADDR` 恢复为 `192.168.41.144:10909`。
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||||
2. 把机器人所有 Server 地址恢复为 `192.168.41.144:10909`。
|
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3. 确认两端所有 `relay_via` 为空。
|
||||
4. 当前主机重新启动 `start-local-hub.sh`。
|
||||
5. 重启当前主机后端和机器人 `b_side_omnid`。
|
||||
|
||||
网络模式切换只涉及环境配置和 Hub 所在位置，不需要修改视频编码、双相机切换、robot-command-center 前端或 Peer ID。
|
||||
84
README.md
Normal file
84
README.md
Normal file
@@ -0,0 +1,84 @@
|
||||
# OmniSocketGo_streaming
|
||||
|
||||
This repository contains the extracted streaming stack for the control host
|
||||
and the robot. It keeps two mutually exclusive robot camera implementations:
|
||||
|
||||
| Area | Path | Camera source | Use when |
|
||||
| --- | --- | --- | --- |
|
||||
| Control host | `host/` | KCP hub, Django API, Vue UI | Running the operator/control side |
|
||||
| Robot release A | `robot/v4l2/OmniSocketGo_robot/` | Direct `/dev/video*` (V4L2) | Testing the legacy/direct device path |
|
||||
| Robot release B | `robot/ros2/OmniSocketGo_robot_ros/` | ROS 2 RGB topics + shared-memory bridge | Keeping `proc_manager`/Orbbec ownership and using the ROS 2 path |
|
||||
|
||||
Do not start both robot releases at the same time on one robot. They use the
|
||||
same KCP peer identities and their camera ownership requirements are
|
||||
different.
|
||||
|
||||
## Repository layout
|
||||
|
||||
```text
|
||||
host/
|
||||
OmniSocketGo_add_camera/ C/KCP transport, Python bindings, scripts
|
||||
robot-command-center/ Django backend and Vue frontend
|
||||
requirements.txt
|
||||
robot/
|
||||
v4l2/OmniSocketGo_robot/ `/dev/video*` release extracted from 2026-08-08 bundle
|
||||
ros2/OmniSocketGo_robot_ros/ ROS 2 camera release validated on the robot
|
||||
release/ Original release notes and SHA256 manifests
|
||||
NETWORK_LINK_STARTUP_GUIDE.md Direct-LAN and single-public-hub guidance
|
||||
```
|
||||
|
||||
The original compressed bundles were intentionally extracted rather than
|
||||
committed again. Machine-local `*.env.local`, build directories, caches,
|
||||
frontend dependencies, and generated binaries are ignored. Copy the matching
|
||||
`*.env` file to a local override on the target machine and edit addresses and
|
||||
paths there.
|
||||
|
||||
## Quick start
|
||||
|
||||
### Control host
|
||||
|
||||
Read `host/README_PACKAGE.md`, then keep these directories as siblings when
|
||||
installing on Linux:
|
||||
|
||||
```text
|
||||
<install-root>/OmniSocketGo_add_camera
|
||||
<install-root>/robot-command-center
|
||||
```
|
||||
|
||||
The normal direct-LAN order is local KCP hub, backend, then frontend. The full
|
||||
commands and the one-public-Hub variation are in
|
||||
`NETWORK_LINK_STARTUP_GUIDE.md`.
|
||||
|
||||
### Robot: direct V4L2 release
|
||||
|
||||
```bash
|
||||
cd robot/v4l2/OmniSocketGo_robot
|
||||
./check-robot-lan.sh
|
||||
./start-robot-lan.sh
|
||||
```
|
||||
|
||||
This release opens the selected V4L2 devices directly. Stop any camera service
|
||||
that owns the device before starting it.
|
||||
|
||||
### Robot: ROS 2 release
|
||||
|
||||
```bash
|
||||
cd robot/ros2/OmniSocketGo_robot_ros
|
||||
make
|
||||
```
|
||||
|
||||
Follow `robot/ros2/README.md` and
|
||||
`robot/ros2/OmniSocketGo_robot_ros/docs/ROS2_CAMERA_FORWARDING.md`. In the
|
||||
default ROS 2 mode the Orbbec/proc_manager stack owns `/dev/video*`; the ROS 2
|
||||
bridge subscribes to RGB topics and exposes the latest frames to the existing
|
||||
KCP daemon without opening V4L2.
|
||||
|
||||
## Review status
|
||||
|
||||
The original 2026-08-08 host and V4L2 archive hashes are retained under
|
||||
`release/`. The ROS 2 release is the separately tested source tree that was
|
||||
developed for ROS 2 camera ownership. The repository is source-only: C/KCP and
|
||||
ROS 2 builds must be performed on their target Linux/ARM64 environments.
|
||||
|
||||
See `docs/RELEASE_REVIEW.md` for the boundary checks and known machine-local
|
||||
configuration values.
|
||||
13
config
Normal file
13
config
Normal file
@@ -0,0 +1,13 @@
|
||||
[core]
|
||||
repositoryformatversion = 0
|
||||
filemode = false
|
||||
bare = false
|
||||
logallrefupdates = true
|
||||
symlinks = false
|
||||
ignorecase = true
|
||||
[user]
|
||||
name = Mike Mi
|
||||
email = 2873@qq.com
|
||||
[remote "origin"]
|
||||
url = https://gitea.public.snrc.site/mimingkang/OmniSocketGo_streaming.git
|
||||
fetch = +refs/heads/*:refs/remotes/origin/*
|
||||
1
description
Normal file
1
description
Normal file
@@ -0,0 +1 @@
|
||||
Unnamed repository; edit this file 'description' to name the repository.
|
||||
Reference in New Issue
Block a user