# OmniSocketGo robot package

This archive is the robot-side source package. It contains the camera discovery,
occupancy handling, dual-camera switching, KCP video sender and robot control
daemon. It does not contain the web frontend or the control-host backend.

## Install

```bash
cd OmniSocketGo_robot

sudo apt-get update
sudo apt-get install -y \
  build-essential pkg-config \
  libavformat-dev libavcodec-dev libavutil-dev libswscale-dev \
  v4l-utils psmisc udev systemd \
  python3 iproute2 iputils-ping curl

make b_side_omnid
```

The package intentionally excludes binaries built on the x86_64 control host.
Always build `bin/b_side_omnid` on the robot itself.

## Verify the included camera mapping logic

```bash
test -f scripts/dev/resolve-camera-device.sh
grep -n "resolve_camera_devices" scripts/dev/start-b-side-omnid.sh
grep -n "OMNI_CAMERA_AUTO_DISCOVER" scripts/dev/robot-remote.env.local
```

The current mapping is:

```text
head  serial: CP9E163000H3
waist serial: CPCK8530005N
capture mode: MJPG 1280x720
```

Review `scripts/dev/robot-remote.env.local` before starting, especially the
KCP server address, camera serial numbers and service names.

## Start direct-LAN mode

```bash
sudo systemctl stop blitz-watchdog.service blitz-b-side-omnid.service || true
./start-robot-lan.sh
```

Expected startup messages include:

```text
stopping known camera service ...
[camera-discovery] head: serial=... -> /dev/video...
[camera-discovery] waist: serial=... -> /dev/video...
[start-b-side-omnid] resolved head=... waist=...
[video_pipeline] camera head ready ...
[video_pipeline] camera waist ready ...
video registered=1
```

`check-robot-lan.sh` still reports the configured fallback `/dev/video*` nodes.
The real startup path performs dynamic serial-number discovery after releasing
the known camera services.