# 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.