66 lines
1.8 KiB
Markdown
66 lines
1.8 KiB
Markdown
# OmniSocketGo robot package
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This archive is the robot-side source package. It contains the camera discovery,
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occupancy handling, dual-camera switching, KCP video sender and robot control
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daemon. It does not contain the web frontend or the control-host backend.
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## Install
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```bash
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cd OmniSocketGo_robot
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sudo apt-get update
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sudo apt-get install -y \
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build-essential pkg-config \
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libavformat-dev libavcodec-dev libavutil-dev libswscale-dev \
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v4l-utils psmisc udev systemd \
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python3 iproute2 iputils-ping curl
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make b_side_omnid
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```
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The package intentionally excludes binaries built on the x86_64 control host.
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Always build `bin/b_side_omnid` on the robot itself.
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## Verify the included camera mapping logic
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```bash
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test -f scripts/dev/resolve-camera-device.sh
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grep -n "resolve_camera_devices" scripts/dev/start-b-side-omnid.sh
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grep -n "OMNI_CAMERA_AUTO_DISCOVER" scripts/dev/robot-remote.env.local
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```
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The current mapping is:
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```text
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head serial: CP9E163000H3
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waist serial: CPCK8530005N
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capture mode: MJPG 1280x720
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```
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Review `scripts/dev/robot-remote.env.local` before starting, especially the
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KCP server address, camera serial numbers and service names.
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## Start direct-LAN mode
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```bash
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sudo systemctl stop blitz-watchdog.service blitz-b-side-omnid.service || true
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./start-robot-lan.sh
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```
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Expected startup messages include:
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```text
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stopping known camera service ...
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[camera-discovery] head: serial=... -> /dev/video...
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[camera-discovery] waist: serial=... -> /dev/video...
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[start-b-side-omnid] resolved head=... waist=...
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[video_pipeline] camera head ready ...
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[video_pipeline] camera waist ready ...
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video registered=1
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```
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`check-robot-lan.sh` still reports the configured fallback `/dev/video*` nodes.
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The real startup path performs dynamic serial-number discovery after releasing
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the known camera services.
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