Update 2026-04-22 11:19:55

Client/marcus_cli.py

@@ -242,7 +242,7 @@ def _print_help():
 # ── MAIN ─────────────────────────────────────────────────────────────────────
 
 def main():
-    parser = argparse.ArgumentParser(description="Marcus CLI Client")
+    parser = argparse.ArgumentParser(description="Sanad CLI Client (talks to the Marcus brain over WebSocket)")
     parser.add_argument("--ip",   default=None, help="Server IP address")
     parser.add_argument("--port", type=int, default=None, help="Server port")
     args = parser.parse_args()
@@ -250,7 +250,7 @@ def main():
     eth_ip  = _net.get("jetson_ip", "192.168.123.164")
     wlan_ip = _net.get("jetson_wlan_ip", "10.255.254.86")
 
-    print(f"\n{C.BOLD}{C.ORANGE}  MARCUS — CLI Client{C.RESET}")
+    print(f"\n{C.BOLD}{C.ORANGE}  SANAD — CLI Client{C.RESET}")
     print(f"  {'═' * 40}")
     print(f"  {C.GRAY}Connection options:{C.RESET}")
     print(f"    1) eth0  — {eth_ip}:{DEFAULT_PORT}")

Client/marcus_client.py

@@ -140,7 +140,7 @@ def btn(parent, text, bg_color=BG3, fg_color=WHITE, font=FONT_SM, command=None,
 class MarcusGUI:
     def __init__(self, root):
         self.root = root
-        self.root.title("Marcus — Navigation Control")
+        self.root.title("Sanad — Navigation Control")
         self.root.configure(bg=BG)
         self.root.geometry("1360x860")
         self.root.minsize(1000, 650)

Server/marcus_server.py

@@ -29,10 +29,25 @@ from Brain.marcus_brain import init_brain, process_command, get_brain_status, sh
 from API.camera_api import get_frame
 
 _net = load_config("Network")
+_cam = load_config("Camera")
 
 HOST = "0.0.0.0"
 PORT = _net.get("websocket_port", 8765)
 
+
+def _camera_config_payload() -> dict:
+    """Current camera parameters for the `camera_config` client event."""
+    return {
+        "type":            "camera_config",
+        "profile":         _cam.get("profile", "default"),
+        "width":           _cam.get("width",        424),
+        "height":          _cam.get("height",       240),
+        "fps":             _cam.get("fps",          15),
+        "jpeg_quality":    _cam.get("jpeg_quality", 70),
+        "pipeline_active": True,          # camera thread is always on in this build
+        "timestamp":       time.strftime("%H:%M:%S"),
+    }
+
 connected_clients = set()
 
 
@@ -76,9 +91,13 @@ async def handler(websocket):
         "memory": status["memory"],
         "camera": status["camera"],
         "lidar": lidar_ok,
-        "message": "Marcus server ready (full brain)",
+        "message": "Sanad server ready (full brain)",
     }))
 
+    # Also push current camera config so the GUI's Camera tab populates
+    # immediately on connect without needing an explicit get_camera round-trip.
+    await websocket.send(json.dumps(_camera_config_payload()))
+
     try:
         async for message in websocket:
             data = json.loads(message)
@@ -139,6 +158,35 @@ async def handler(websocket):
                     "timestamp": time.strftime("%H:%M:%S"),
                 }))
 
+            elif msg_type == "get_camera":
+                await websocket.send(json.dumps(_camera_config_payload()))
+
+            elif msg_type in ("set_camera", "set_resolution"):
+                # The RealSense pipeline is started once at boot with values
+                # from config_Camera.json; hot-switching resolution would
+                # require tearing down and rebuilding the camera thread.
+                # Not implemented today — reply with a clear error so the
+                # GUI surfaces it rather than hanging forever waiting for
+                # a camera_config event that never comes.
+                await websocket.send(json.dumps({
+                    "type":    "error",
+                    "message": (f"`{msg_type}` is not supported in this build — "
+                                "camera parameters are pinned from config_Camera.json "
+                                "at startup."),
+                    "echo":    msg_type,
+                    "timestamp": time.strftime("%H:%M:%S"),
+                }))
+                # Still send the current config so the GUI can refresh its UI.
+                await websocket.send(json.dumps(_camera_config_payload()))
+
+            else:
+                await websocket.send(json.dumps({
+                    "type":    "error",
+                    "message": f"Unknown message type: {msg_type!r}",
+                    "echo":    msg_type,
+                    "timestamp": time.strftime("%H:%M:%S"),
+                }))
+
     except websockets.exceptions.ConnectionClosed:
         print(f"[Server] Client disconnected: {client}")
     finally: