wired up voice and vision, testing motion

2026-08-28 11:26:40 +02:00
parent 8d88495f6f
commit 3982c6fb6b
84 changed files with 7696 additions and 8984 deletions
@@ -0,0 +1,108 @@
+#!/usr/bin/env bash
+set -e
+
+PROJECT="$HOME/esarobotech/r1"
+INTERFACE="${1:-enp3s0}"
+
+cd "$PROJECT"
+
+PIDS=()
+
+cleanup() {
+    echo
+    echo "[R1] Stopping all services..."
+
+    for pid in "${PIDS[@]}"; do
+        if kill -0 "$pid" 2>/dev/null; then
+            kill "$pid" 2>/dev/null || true
+        fi
+    done
+
+    wait 2>/dev/null || true
+
+    echo "[R1] All services stopped."
+}
+
+trap cleanup EXIT INT TERM
+
+echo "======================================"
+echo " R1 complete stack"
+echo "======================================"
+echo "Interface: $INTERFACE"
+echo
+
+echo "[R1] Starting camera..."
+./scripts/start_camera.sh "$INTERFACE" &
+PIDS+=("$!")
+
+sleep 1
+
+echo "[R1] Starting YOLO..."
+./scripts/start_yolo.sh &
+PIDS+=("$!")
+
+sleep 1
+
+echo "[R1] Starting LLM..."
+./scripts/start_llm.sh &
+PIDS+=("$!")
+
+echo "[R1] Waiting for LLM server..."
+
+for i in {1..60}; do
+    if curl -fsS \
+        http://127.0.0.1:8080/health \
+        >/dev/null 2>&1; then
+
+        echo "[R1] LLM ready."
+        break
+    fi
+
+    sleep 1
+
+    if [[ "$i" -eq 60 ]]; then
+        echo "[ERROR] LLM failed to become ready."
+        exit 1
+    fi
+done
+
+echo "[R1] Waiting for camera frame..."
+
+for i in {1..20}; do
+    if [[ -s /dev/shm/robot_frame.jpg ]]; then
+        echo "[R1] Camera ready."
+        break
+    fi
+
+    sleep 0.5
+
+    if [[ "$i" -eq 20 ]]; then
+        echo "[WARN] Camera frame not available yet."
+    fi
+done
+
+echo "[R1] Starting voice assistant..."
+./scripts/start_voice.sh "$INTERFACE" &
+PIDS+=("$!")
+
+echo "[R1] Starting motion..."
+./scripts/start_motion.sh "$INTERFACE" &
+PIDS+=("$!")
+
+sleep 1
+
+echo
+echo "======================================"
+echo " R1 stack running"
+echo "======================================"
+echo "Camera: /dev/shm/robot_frame.jpg"
+echo "YOLO:   /dev/shm/r1_detections.json"
+echo "LLM:    http://127.0.0.1:8080"
+echo
+echo "Press Ctrl+C to stop everything."
+echo
+
+# Wait until one service exits.
+wait -n "${PIDS[@]}"
+
+echo "[R1] A service exited; shutting down the stack."