Update 2026-04-21 16:27:07

API/audio_api.py

@@ -28,22 +28,27 @@ import json
 import logging
 import os
 import subprocess
+import sys
 import threading
 import time
 import wave
 import numpy as np
 
-# ─── PATH CONFIG ─────────────────────────────────────────
+# ─── PATH + CONFIG ───────────────────────────────────────
-from dotenv import load_dotenv
+# Use the canonical loaders from Core/ so path + config logic lives in one place.
-load_dotenv()
+_PROJECT_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-
+if _PROJECT_DIR not in sys.path:
-BASE_PATH = os.environ.get("PROJECT_BASE", "/home/unitree")
+    sys.path.insert(0, _PROJECT_DIR)
-PROJECT_NAME = "Marcus"
+from Core.env_loader import PROJECT_ROOT
-PROJECT_ROOT = os.path.join(BASE_PATH, PROJECT_NAME)
+from Core.config_loader import load_config
 
 LOG_DIR = os.path.join(PROJECT_ROOT, "logs")
 os.makedirs(LOG_DIR, exist_ok=True)
 
+# Note: logging.basicConfig() only takes effect on the first call per process.
+# If the voice module already configured logging (common path via run_marcus.py),
+# this call is a no-op. When audio_api is used standalone, it wires logs to
+# logs/voice.log + stderr.
 logging.basicConfig(
     level=logging.INFO,
     format="%(asctime)s [%(name)s] %(levelname)s: %(message)s",
@@ -55,12 +60,6 @@ logging.basicConfig(
 log = logging.getLogger("audio_api")
 
 
-def load_config(name: str) -> dict:
-    path = os.path.join(PROJECT_ROOT, "Config", f"config_{name}.json")
-    with open(path, "r") as f:
-        return json.load(f)
-
-
 # ─── AUDIO API CLASS ─────────────────────────────────────
 
 class AudioAPI:
@@ -135,11 +134,12 @@ class AudioAPI:
         Speak `text` in English through the G1 built-in TTS (TtsMaker).
 
         Mutes (flushes) the mic during playback so the voice loop doesn't
-        hear the robot's own voice and transcribe itself. The `lang`
+        hear the robot's own voice and transcribe itself. `lang` is kept
-        argument is accepted for API compatibility but only "en" plays —
+        in the signature for API compatibility but only `"en"` is accepted
-        non-ASCII text (Arabic) is rejected by BuiltinTTS.
+        — non-ASCII text (Arabic) is rejected by BuiltinTTS because the
+        G1 firmware silently maps it to Chinese, which nobody wants.
         """
-        if lang and lang not in ("en", "auto"):
+        if lang and lang != "en":
             log.warning("builtin_tts only supports English; got lang=%r — skipping", lang)
             return
         if self._tts_engine is None:

Autonomous/marcus_autonomous.py

@@ -31,7 +31,7 @@ Files saved
     summary.txt         — auto-generated LLaVA summary
     frames/             — camera captures at interesting points
 
-Import in marcus_llava.py
+Import in marcus_brain.py
 -------------------------
   from marcus_autonomous import AutonomousMode
   auto = AutonomousMode(
@@ -303,17 +303,20 @@ class AutonomousMode:
     def _move_forward(self) -> bool:
         """
         Move forward for FORWARD_DURATION seconds.
-        Returns True if blocked (no actual movement detected).
+
+        Returns True if blocked. Obstacle detection is not wired in here —
+        LiDAR runs at the brain layer (API.lidar_api.obstacle_ahead) and
+        isn't passed into AutonomousMode today. Extend __init__ with an
+        optional `obstacle_fn=` hook if you want this loop to stop on
+        obstacles detected outside YOLO's view.
         """
-        # TODO: integrate LiDAR when available for true obstacle detection
-        # For now: move and assume not blocked
         t0 = time.time()
         while time.time() - t0 < FORWARD_DURATION and self._enabled:
             self._send_vel(vx=0.25)
             time.sleep(0.05)
         self._send_vel(0, 0, 0)
         time.sleep(0.1)
-        return False   # Not blocked — no LiDAR yet
+        return False
 
     def _turn(self, direction: str, duration: float):
         """Turn left or right for given duration."""

Brain/marcus_brain.py

@@ -501,14 +501,18 @@ def run_terminal():
                 continue
             if cmd.lower() in ("q", "quit", "exit"):
                 break
-            if cmd.lower() == "mute/":
+            if cmd.lower() in ("mute/", "unmute/"):
-                import subprocess
+                # Route through the audio API so the action respects whichever
-                subprocess.run(["pactl", "set-source-mute", "0", "1"], capture_output=True)
+                # mic backend is active (BuiltinMic flushes the UDP buffer;
-                print("  Mic muted")
+                # the legacy pactl path mutes PulseAudio source 3).
+                if _audio_api is None:
+                    print("  Voice is not initialized")
                     continue
-            if cmd.lower() == "unmute/":
+                if cmd.lower() == "mute/":
-                import subprocess
+                    _audio_api._mute_mic()
-                subprocess.run(["pactl", "set-source-mute", "0", "0"], capture_output=True)
+                    print("  Mic muted")
+                else:
+                    _audio_api._unmute_mic()
                     print("  Mic unmuted")
                 continue
             result = process_command(cmd)

Brain/marcus_memory.py

@@ -19,7 +19,7 @@ Folder structure
       alerts.json                          ← [{time, type, detail}]
       summary.txt                          ← auto-generated session summary
 
-Import in marcus_llava.py
+Import in marcus_brain.py
 -------------------------
   from marcus_memory import Memory
   mem = Memory()                           ← call once at startup

Client/marcus_client.py

@@ -14,6 +14,18 @@ import io
 import numpy as np
 import websockets
 
+# Load network defaults from Config/config_Network.json. Falls back to sane
+# hardcoded values if the config isn't reachable (the GUI can run standalone
+# from a workstation that isn't on the same filesystem as the project).
+_PROJECT_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+if _PROJECT_DIR not in sys.path:
+    sys.path.insert(0, _PROJECT_DIR)
+try:
+    from Core.config_loader import load_config
+    _net = load_config("Network")
+    JETSON_IP   = _net.get("jetson_ip",      "192.168.123.164")
+    JETSON_PORT = _net.get("websocket_port", 8765)
+except Exception:
     JETSON_IP   = "192.168.123.164"
     JETSON_PORT = 8765
 
@@ -1000,7 +1012,10 @@ class MarcusGUI:
                 p2 = ImageTk.PhotoImage(img_resized)
                 self.cam_preview.configure(image=p2, text="")
                 self.cam_preview.image = p2
-        except Exception: pass
+        except Exception as e:
+            # Malformed base64 / torn frame / Tk disposed during shutdown —
+            # log it so UI freezes become debuggable rather than silent.
+            print(f"  [Client] _update_frame dropped: {type(e).__name__}: {e}")
 
     def _update_cam_config(self, d):
         p, w, h, f = d.get("profile","?"), d.get("width","?"), d.get("height","?"), d.get("fps","?")

Navigation/marcus_odometry.py

@@ -9,7 +9,7 @@ Two sources (priority order):
   1. ROS2 /dog_odom — joint encoder data → ±2cm accuracy
   2. Dead reckoning — velocity × time integration → ±10cm accuracy
 
-Import in marcus_llava.py
+Import in marcus_brain.py
 --------------------------
   from marcus_odometry import Odometry
   odom = Odometry()
@@ -78,7 +78,7 @@ class Odometry:
     def __init__(self):
         self._lock      = threading.Lock()
         self._alive     = [False]
-        self._sock      = None          # ZMQ PUB socket (shared from marcus_llava)
+        self._sock      = None          # ZMQ PUB socket (shared from marcus_brain)
 
         # Position state
         self._x       = 0.0            # meters from start
@@ -105,7 +105,7 @@ class Odometry:
         Start odometry tracking in background thread.
 
         Args:
-            zmq_sock : existing ZMQ PUB socket from marcus_llava.py.
+            zmq_sock : existing ZMQ PUB socket from marcus_brain.py.
                        If None, creates its own socket on ZMQ_PORT.
                        Passing the shared socket avoids port conflicts.
 
@@ -169,7 +169,7 @@ class Odometry:
         except zmq.ZMQError as e:
             if "Address already in use" in str(e):
                 print(f"  [Odom] ⚠️  ZMQ port {ZMQ_PORT} already in use.")
-                print("  [Odom]    Pass zmq_sock=sock from marcus_llava.py instead.")
+                print("  [Odom]    Pass zmq_sock=sock from marcus_brain.py instead.")
             else:
                 print(f"  [Odom] ⚠️  ZMQ error: {e}")
             self._sock = None

Vision/marcus_imgsearch.py

@@ -15,7 +15,7 @@ How it works
 5. Optional: YOLO pre-filter speeds up search (find person class first,
    then LLaVA verifies it's the right person)
 
-Usage in marcus_llava.py
+Usage in marcus_brain.py
 ------------------------
   from marcus_imgsearch import ImageSearch
   searcher = ImageSearch(get_frame_fn=get_frame, send_vel_fn=send_vel,
@@ -420,11 +420,11 @@ class ImageSearch:
 
 
 # ══════════════════════════════════════════════════════════════════════════════
-# WIRE INTO marcus_llava.py — add to main loop
+# WIRE INTO marcus_brain.py — add to main loop
 # ══════════════════════════════════════════════════════════════════════════════
 
 """
-Add to marcus_llava.py imports:
+Add to marcus_brain.py imports:
     from marcus_imgsearch import ImageSearch
 
 Add after Memory init:
@@ -504,7 +504,7 @@ if __name__ == "__main__":
     elif args.image or args.hint:
         # Real search — needs robot hardware
         print("Real search requires robot hardware.")
-        print("Import ImageSearch into marcus_llava.py instead.")
+        print("Import ImageSearch into marcus_brain.py instead.")
         print(f"  image: {args.image}")
         print(f"  hint:  {args.hint}")
 

Vision/marcus_yolo.py

@@ -3,7 +3,7 @@ marcus_yolo.py — Marcus Vision Module
 =======================================
 Project  : Marcus | YS Lootah Technology
 Purpose  : YOLO-based person + object detection
-           Import this module in marcus_llava.py — runs as background thread
+           Import this module in marcus_brain.py — runs as background thread
 
 Usage (imported):
     from marcus_yolo import start_yolo, yolo_sees, yolo_count, yolo_closest, yolo_summary
@@ -365,20 +365,20 @@ def _camera_loop(raw_frame_ref, frame_lock, cam_alive):
             time.sleep(2.0)
 
 
-# ── Start function — called by marcus_llava.py ────────────────────────────────
+# ── Start function — called by marcus_brain.py ────────────────────────────────
 
 def start_yolo(raw_frame_ref=None, frame_lock=None):
     """
     Start YOLO inference in background thread.
 
-    Called automatically by marcus_llava.py during startup.
+    Called automatically by marcus_brain.py during startup.
-    Shares the camera frame reference from marcus_llava's camera thread.
+    Shares the camera frame reference from marcus_brain's camera thread.
 
     Args:
         raw_frame_ref : list[np.ndarray|None] — shared raw BGR frame
         frame_lock    : threading.Lock protecting raw_frame_ref
 
-    Example (in marcus_llava.py):
+    Example (in marcus_brain.py):
         from marcus_yolo import start_yolo, yolo_sees, yolo_summary
         start_yolo(raw_frame_ref=_raw_frame, frame_lock=_raw_lock)
     """

Voice/marcus_voice.py

@@ -22,23 +22,23 @@ Usage:
 
 import logging
 import os
+import sys
 import threading
 import time
 import numpy as np
 
-# ─── PATH CONFIG ─────────────────────────────────────────
+# ─── PATH + CONFIG ───────────────────────────────────────
-from dotenv import load_dotenv
+# Single source of truth lives in Core/; everyone else imports from there.
-load_dotenv()
+_PROJECT_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-
+if _PROJECT_DIR not in sys.path:
-BASE_PATH = os.environ.get("PROJECT_BASE", "/home/unitree")
+    sys.path.insert(0, _PROJECT_DIR)
-PROJECT_NAME = "Marcus"
+from Core.env_loader import PROJECT_ROOT
-PROJECT_ROOT = os.path.join(BASE_PATH, PROJECT_NAME)
+from Core.config_loader import load_config
-
-import json
 
 LOG_DIR = os.path.join(PROJECT_ROOT, "logs")
 os.makedirs(LOG_DIR, exist_ok=True)
 
+# Idempotent — only the first call per process installs handlers.
 logging.basicConfig(
     level=logging.INFO,
     format="%(asctime)s [%(name)s] %(levelname)s: %(message)s",
@@ -50,12 +50,6 @@ logging.basicConfig(
 log = logging.getLogger("marcus_voice")
 
 
-def load_config(name: str) -> dict:
-    path = os.path.join(PROJECT_ROOT, "Config", f"config_{name}.json")
-    with open(path, "r") as f:
-        return json.load(f)
-
-
 # ─── STATE ENUM ──────────────────────────────────────────
 
 class State: