From 4905d7feff930b2cae228940dc6520a540964829 Mon Sep 17 00:00:00 2001 From: kassam Date: Sat, 4 Jul 2026 23:59:25 +0400 Subject: [PATCH] Update 2026-07-04 23:59:24 --- README.md | 304 +++++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 219 insertions(+), 85 deletions(-) diff --git a/README.md b/README.md index 45c16da..aaaf5af 100644 --- a/README.md +++ b/README.md @@ -4,116 +4,215 @@ Hands-free conversation in **one operator-selected language** (Gemini Live), audio via the **G1 chest** or **any plugged USB mic/speaker (Anker)**. **No** voice-command motion, vision, recognition, or navigation. Dashboard on **:8011**. -This package is **self-contained** — it vendors the Sanad engine under `vendor/`, -so a clone of this folder builds and runs with no sibling folders or `sanad-base`. +This package is **self-contained** — it vendors the Sanad engine under `vendor/` +and builds `FROM python:3.10-slim-bookworm`, so a clone of **just this folder** +builds and runs with no sibling folders and no `sanad-base` image. The image +ships **keyless**: the customer pastes their own Gemini API key in the dashboard +on first open. -## Quick start (how to start) +--- + +## Install (per-robot, first run) + +The workstation is canonical — you **build and run Docker on the robot**, but you +copy the folder from the workstation. Three steps: deploy the folder, give the +robot a license, then add the Gemini key in the dashboard. For a **brand-new G1** +that has never run Sanad, follow the full flow in **[`NEW_ROBOT_SETUP.md`](NEW_ROBOT_SETUP.md)**. + +**1. Get the package onto the robot.** P1 is self-contained, so you copy only the +package folder (no `Sanad/` sibling, no `sanad-base`). From the workstation: + +```bash +rsync -az --exclude __pycache__ \ + Project/G1/Packages/Sanad_Package_1 \ + unitree@:~/sanad_deploy/ +``` + +Everything P1 needs to build and run then lives under +`~/sanad_deploy/Sanad_Package_1` on the robot. (Dev robot: `unitree@10.255.254.86`.) + +**2. License this robot.** A signed Ed25519 `sanad.lic` decides which packages a +robot may run; verification is fully **offline** (the public key is baked into the +image). The package ships a **bundled demo license** +(`license/sanad.lic.example`, robot_id `G1-SN-DEMO-0001`, unbound, expires +`2030-01-01`) that entitles **P1 + P3** — so the build **runs out of the box** with no +extra work. For a **delivered/production robot**, sign a real **per-robot license** +(optionally hardware-bound) — see **[Licensing](#licensing)** below and +**[`NEW_ROBOT_SETUP.md`](NEW_ROBOT_SETUP.md)**. + +**3. First run is keyless.** No Gemini key is baked into the image. On first open +of the dashboard the customer pastes **their own** Gemini API key (see the +first-run steps under [Run with Docker](#run-with-docker-quick-start)). + +--- + +## Run with Docker (quick start) + +On the robot, **from this folder** (`~/sanad_deploy/Sanad_Package_1/`) — nothing +else needed: -On the robot, **from this folder** (`Sanad_Package_1/`) — nothing else needed: ```bash cp .env.example .env # optional: set language / audio / license path docker compose up -d --build # build (vendored engine) + run # Jetson Docker without buildx: DOCKER_BUILDKIT=0 docker compose up -d --build ``` + +The container runs `network_mode: host` — this is **required** so the G1 DDS +discovery (and chest audio) reaches the robot firmware on `eth0`. + Open **http://<robot-ip>:8011** and (the image ships **keyless**): + 1. **Gemini API key** card → paste your key. 2. **Persona** card → set who the robot is + the language/dialect it speaks (saving restarts the live session). 3. **Audio** card → pick chest vs USB/Anker speaker, volume, mute. 4. Press **Start** in the **Conversation** card and talk. -Manage it: +The first build vendors the engine and (by default, `WITH_UNITREE_SDK=1`) compiles +the chest-audio Unitree SDK, so it takes a few minutes; later builds are cached. + +--- + +## Manage it + ```bash docker compose logs -f # live logs docker compose down # stop ./test_p1.sh :8011 # smoke test (expect 11/11 PASS) ``` + - **Auto-start on boot:** `sudo systemctl enable docker` — compose already runs P1 - `restart: unless-stopped`, so it returns after a reboot. -- **A brand-new G1** (build, sign a license, bind to the robot) → **`NEW_ROBOT_SETUP.md`**. -- **No Docker?** dev mode in the `gemini_sdk` conda env → `./p1ctl.sh start` (runs against `./vendor`). + with `restart: unless-stopped`, so the container returns after a reboot until you + explicitly `docker compose down`. (Full boot options — Docker-native vs a systemd + unit — are in [`NEW_ROBOT_SETUP.md`](NEW_ROBOT_SETUP.md) §7.) +- **No Docker? (dev mode)** run P1 in the robot's `gemini_sdk` conda env via the + control script. It runs against the vendored engine in `./vendor`, so only the + package folder is needed: + ```bash + cd ~/sanad_deploy/Sanad_Package_1 + ./p1ctl.sh start # launch on :8011 (runs against ./vendor) + ./p1ctl.sh status # process + /api/health + ./p1ctl.sh logs 80 # tail the P1 log + ./p1ctl.sh restart + ./p1ctl.sh stop + ``` +- **Logs:** the dashboard's **Logs** card streams live (`/ws/logs`) and the + **⬇ Download** button saves the full bundle (`/api/logs/bundle`) as + `sanad_p1_logs_.txt`. + +**Container startup (what the entrypoint does):** (1) **license gate** — +`python3 -m sanad_pkg.license_check P1`; if the robot is **not** entitled the +container **exits cleanly (code 0)** so the restart policy won't crash-loop; +(2) resolve config with precedence **env var > license feature > +`config/p1_config.json`**; (3) a **preflight** that prints clear diagnostics +(python / google-genai / pyaudio / Unitree SDK / audio profile); (4) `exec app_p1.py`. + +--- ## What it ships + - `app_p1.py` — launcher: bootstraps the `Project.Sanad` namespace, constructs ONLY the comms subsystems (`brain`, `audio_mgr`, `voice_client`, `local_tts`, `typed_replay`, `live_sub`), injects a P1-scoped `Project.Sanad.main` shim, and mounts ONLY the P1 dashboard routers (`voice`, `audio`, `prompt`, `typed-replay`, `records`, `logs`, `live-subprocess`, `health`, `system`) + the logs websocket. Serves the real Sanad SPA with non-P1 tabs hidden. -- `entrypoint.sh` — license gate (`license_check P1`; clean exit if unlicensed), - resolves language/audio/port (env > license feature > `config/p1_config.json`). -- `Dockerfile` / `requirements.txt` — **SELF-CONTAINED**: `FROM python:3.10-slim`, - installs all deps, and bakes the vendored engine — **no `sanad-base`**. +- `routes_p1.py` — the P1-scoped routes mounted at `/api/p1` (`api-key`, `persona`, + `say`, `settings`) that reuse Sanad's canonical logic and add the live-session + restart on change. +- `entrypoint.sh` — license gate → resolve language/audio/port → preflight → launch. +- `Dockerfile` / `requirements.txt` — **SELF-CONTAINED**: + `FROM python:3.10-slim-bookworm`, installs all deps, and bakes the vendored engine + (+ chest-audio SDK when `WITH_UNITREE_SDK=1`) — **no `sanad-base`**. +- `docker-compose.yml` — standalone build + run (`context: .`, `network_mode: host`, + `restart: unless-stopped`). The top-level `Packages/docker-compose.yml` can still + run P1 in the fleet via `--profile p1`. - `vendor/Sanad` + `vendor/sanad_pkg` — the vendored Sanad engine + license/bus lib. Refresh from a monorepo checkout with `./sync_vendor.sh`. -- `config/p1_config.json` — defaults (language, audio profile, port, tab set). -- `docker-compose.yml` — standalone build + run (`context: .`); the top-level - `Packages/docker-compose.yml` can still run P1 in the fleet via `--profile p1`. -- `license/` — public verification key + an example license for the default mount. +- `config/p1_config.json` — defaults (language, audio profile, port, SPA tab set). +- `license/` — `pubkey.ed25519` (public verification key) + `sanad.lic.example` + (the bundled demo license used by the default mount). +- `sync_vendor.sh` — re-vendor the engine from a monorepo checkout. +- `test_p1.sh` — smoke test (`./test_p1.sh :8011`, expect 11/11 PASS). +- `p1ctl.sh` — dev-mode (no-Docker) start/stop/status/logs against `./vendor`. It does **not** fork Sanad — it **vendors** the canonical source under `vendor/` (re-synced by `sync_vendor.sh`), so the package builds and runs entirely on its own with **no sibling folders**. -## Run & stop P1 +--- -**A) Docker (the productized way)** — **self-contained**; from this package dir -(`Sanad_Package_1/`) on the robot, nothing else required: -```bash -docker compose up -d --build # build (vendored engine) + run -> http://:8011 -docker compose logs -f # view logs -docker compose down # stop -# Jetson Docker without buildx: DOCKER_BUILDKIT=0 docker compose up -d --build -# audio: SANAD_AUDIO_PROFILE=builtin (chest) | plugged (USB/Anker) -# language: license `language` feature, or SANAD_LANGUAGE=en docker compose up -d --build -``` -No `sanad-base` image and no sibling `Sanad/` checkout are needed — the engine is -vendored under `vendor/`. (The top-level `Packages/docker-compose.yml` can still -run P1 in the multi-package fleet via `--profile p1`.) +## Configuration (env vars) -**B) Dev mode (no Docker)** — run P1 in the robot's `gemini_sdk` conda env via the -control script. It runs against the vendored engine in `./vendor`, so only the -package folder is needed: -```bash -cd ~/sanad_deploy/Sanad_Package_1 -./p1ctl.sh start # launch on :8011 (runs against ./vendor) -./p1ctl.sh status # process + /api/health -./p1ctl.sh logs 80 # tail the P1 log -./p1ctl.sh restart -./p1ctl.sh stop -``` -Deploy/update from the workstation first: -`rsync -az --exclude __pycache__ Project/Packages/Sanad_Package_1 unitree@:~/sanad_deploy/` +`docker compose` reads `.env` from this directory automatically (`cp .env.example .env`). +The knobs you'll actually touch: -**Logs:** the dashboard's **Logs** card streams live (`/ws/logs`) and the **⬇ Download** -button saves the full bundle (`/api/logs/bundle`) as `sanad_p1_logs_.txt`. +| Var | Default | What it does | +|---|---|---| +| `SANAD_LICENSE_FILE` | `./license/sanad.lic.example` | Host path to the signed license, mounted **read-only** into the container at `/etc/sanad/sanad.lic`. Point it at your signed `sanad.lic` on a delivered robot. | +| `SANAD_LICENSE_BIND` | `0` | `1` = enforce the machine-fingerprint lock (bound license). When `1`, also uncomment the `/etc/machine-id` mount in `docker-compose.yml`. | +| `SANAD_AUDIO_PROFILE` | `builtin` | `builtin` = G1 chest mic+speaker over DDS · `plugged` = USB (e.g. Anker) via PulseAudio. | +| `SANAD_DDS_INTERFACE` | `eth0` | Network interface carrying the G1 DDS link to the robot firmware. | +| `SANAD_LANGUAGE` | *(empty)* | Conversation language override (`ar`, `en`, `hi`, `ur`, `zh`, `ru`, `fr`, …). Empty → falls back to the license `language` feature, then the config default (`ar`). | +| `SANAD_PULSE_DIR` | `/run/user/1000/pulse` | Host PulseAudio runtime dir mounted into the container (socket + cookie) so plugged/Bluetooth volume+output works. | +| `PULSE_SERVER` | `unix:/run/user/1000/pulse/native` | PulseAudio socket the (root) container talks to for plugged/BT sinks. | +| `PULSE_COOKIE` | `/run/user/1000/pulse/cookie` | PulseAudio auth cookie (root → uid-1000). If plugged volume is silent, try `/home//.config/pulse/cookie`. | +| `WITH_UNITREE_SDK` | `1` | **Build arg.** `1` bundles CycloneDDS + `unitree_sdk2_python` so chest audio works out of the box; `0` builds a leaner USB/plugged-only image. | +| `BASE_OS_IMAGE` | `python:3.10-slim-bookworm` | **Build arg.** Base image (override only for a GPU build). | +| `SANAD_IMAGE` | `sanad-p1:latest` | Image name/tag — set to a registry path for pull-and-run at fleet scale. | -## Endpoints (P1 subset) -`/` (filtered SPA) · `/api/package` (manifest + license + api-key status) · -`/api/voice/*` · `/api/audio/*` · `/api/prompt/*` · `/api/typed-replay/*` · -`/api/records/*` · `/api/logs/*` · `/api/live-subprocess/*` · `/api/health` · -`/api/system/info` · `/ws/logs` · **`/api/p1/*`** (P1 settings, see below). +Fixed in `docker-compose.yml` (rarely overridden): `SANAD_PACKAGE=P1`, +`SANAD_DASHBOARD_PORT=8011`, `SANAD_DASHBOARD_HOST=0.0.0.0`, +`SANAD_VOICE_BRAIN=gemini`, and the in-container license paths +`SANAD_LICENSE=/etc/sanad/sanad.lic` + `SANAD_PUBKEY=/etc/sanad/pubkey.ed25519`. + +### Audio & volume (all speaker types) + +Like SanadV3, the **volume slider drives every speaker type**. The unified control +`POST /api/audio/g1-speaker/volume` sets **both** the G1 chest (DDS `SetVolume`, +always) **and** the active PulseAudio sink (plugged USB / Bluetooth, e.g. JBL). + +- **`builtin` (chest)** uses DDS only and needs **none** of the pulse setup. +- **`plugged` / Bluetooth** — the container runs as **root**, so it needs the + **host** PulseAudio socket + cookie to reach the uid-1000 PulseAudio. That is why + `docker-compose.yml` mounts `SANAD_PULSE_DIR` and sets `PULSE_SERVER` + + `PULSE_COOKIE`. One-time host setup for a stable boot-time socket: + ```bash + loginctl enable-linger unitree + ``` + +--- + +## Dashboard & features (http://<robot>:8011) + +Two UIs from the one server: -## The P1 dashboard (http://<robot>:8011) - **`/`** — a clean **P1 control page** with cards: Conversation (start/stop), Say-a-line, **Persona** (Save & Apply), **Gemini API key**, **Audio** (speaker profile + volume + mute + rescan), and a live Logs view. This is the everyday UI — no API knowledge needed. -- **`/full`** — the complete Sanad SPA (advanced), with non-P1 tabs hidden - (motion/recognition/nav/temperature/terminal belong to other packages). +- **`/full`** — the complete Sanad SPA (advanced), tabs + **operations · voice · recordings · settings**, with non-P1 tabs hidden + (motion/recognition/nav/mask/temperature/terminal belong to other packages). -What you can do (cards on `/`, also the matching endpoints): +**What you can do (cards on `/`, and the matching endpoints):** | You want to… | Where / endpoint | |---|---| -| **Talk to the robot** (start/stop the live conversation) | Voice tab · `POST /api/live-subprocess/start|stop`, `/api/voice/connect|disconnect` | -| **Make it say a specific line** | Voice/Typed-replay · `POST /api/voice/generate`, `POST /api/typed-replay/say` | -| **Change the robot persona** (who it is, tone, **language/dialect**) | Settings · `GET/POST /api/p1/persona` (or `/api/prompt`) | +| **Talk to the robot** (start/stop the live conversation) | Voice · `POST /api/live-subprocess/start\|stop`, `/api/voice/connect\|disconnect` | +| **Make it say a specific line** | Voice / Typed-replay · `POST /api/voice/generate`, `POST /api/typed-replay/say`, `POST /api/p1/say` | +| **Change the robot persona** (who it is, tone, **language/dialect**) | Settings · `GET/POST /api/p1/persona` (or base `/api/prompt`) | | **Set / update the Gemini API key** | Settings · `GET/POST /api/p1/api-key` | -| **Pick speaker/mic** (chest vs Anker/USB), **volume**, mute | Audio · `/api/audio/devices|profiles|select-profile|select-manual|g1-speaker/volume|*/mute|refresh|reset` | +| **Pick speaker/mic** (chest vs Anker/USB), **volume**, mute | Audio · `/api/audio/devices\|profiles\|select-profile\|select-manual\|g1-speaker/volume\|*/mute\|refresh\|reset` | | **Manage saved recordings** (save/replay/rename/delete) | Recordings · `/api/records/*`, `/api/typed-replay/*` | -| **See logs / system / health** | Settings · `/api/logs`, `/ws/logs`, `/api/system/info`, `/api/health` | +| **See logs / system / health** | Settings · `/api/logs/*`, `/ws/logs`, `/api/system/info`, `/api/health` | -## Change the robot persona +**Endpoint groups:** `/` and `/full` (SPA) · `/api/package` (manifest + license + +api-key status) · **`/api/p1/*`** (api-key, persona, say, settings) · `/api/voice/*` · +`/api/audio/*` · `/api/prompt/*` · `/api/typed-replay/*` · `/api/records/*` · +`/api/logs/*` · `/api/live-subprocess/*` · `/api/health` · `/api/system/info` · +`/ws/logs`. + +### Change the robot persona The persona is the system prompt at `scripts/sanad_script.txt` (who Sanad is, tone, and the language/dialect it speaks). Edit it from the Settings tab or: ```bash @@ -124,19 +223,19 @@ curl -X POST http://:8011/api/p1/persona \ ``` `POST /api/p1/persona` writes the persona **and restarts the live session** so it takes effect immediately (the base `/api/prompt/update` writes the file but a -running session keeps the old persona until restarted). This is also how you -steer the conversation **language** (put the language directive in the persona). +running session keeps the old persona until restarted). This is also how you steer +the conversation **language** — put the language directive in the persona. -## Set / update the Gemini API key +### Set / update the Gemini API key Two ways, both available in P1: - **Base (Sanad):** `GET/POST /api/voice/api-key` — the SPA Voice/Settings tab - uses this. POST persists to `data/motions/config.json`, hot-swaps the - in-memory key, and disconnects the short-session client. The **live** Gemini - subprocess must be restarted (Stop→Start) to pick it up. + uses this. POST persists to `data/motions/config.json`, hot-swaps the in-memory + key, and disconnects the short-session client. The **live** Gemini subprocess + must be restarted (Stop→Start) to pick it up. - **P1 convenience:** `GET/POST /api/p1/api-key` — same persist + hot-swap, and **also auto-restarts the live Gemini subprocess** so the new key applies - immediately. `GET /api/p1/settings` returns api-key status + language + audio - profile + whether a live session is running. + immediately. `GET /api/p1/settings` returns api-key status + persona + language + + audio profile + whether a live session is running. ```bash # set or update the key (works for first-time set AND replacing an existing key) @@ -145,21 +244,56 @@ curl -X POST http://:8011/api/p1/api-key \ # check status (masked; never returns the full key) curl http://:8011/api/p1/api-key ``` -Keys are validated (must start with `AIza`, length check), stored masked in any -response, and persisted to `data/motions/config.json` (highest precedence, ahead -of `SANAD_GEMINI_API_KEY` env and `core_config.json`). +The key is stored masked in any response and persisted to `data/motions/config.json` +(highest precedence, ahead of the `SANAD_GEMINI_API_KEY` env and `core_config.json`). -## Plug-and-play status -- **Base:** `python:3.10-slim` (multi-arch) → `google-genai` installs cleanly, no - CUDA needed. Build on the Jetson (or x86) with `docker compose up -d --build`. -- **Works out of the box** with a plugged USB speaker/mic. The entrypoint runs a - **preflight** (python / google-genai / pyaudio / Unitree-SDK / audio profile) - and prints clear guidance if something's missing. -- **Language** is set via the **Persona** card (put the dialect/language directive - in the system prompt — saving applies it to the live session immediately). -- **Self-contained:** the Sanad engine is vendored under `vendor/` and chest-audio - `unitree_sdk2_python` is built into the image (`WITH_UNITREE_SDK=1`), so a clone - of this repo builds and runs with no sibling folders. For pull-and-run at fleet - scale, publish the `linux/arm64` image to a registry and `docker compose pull`. - In a multi-package deployment, audio output can route through the `Sanad_Core` - hwbroker audio-lock (P1 standalone speaks directly). +--- + +## Licensing + +A signed **Ed25519** `sanad.lic` decides which packages a robot may run. +`pubkey.ed25519` is baked into every image at `/etc/sanad/pubkey.ed25519`, so +**verification is fully offline** — no network, no license server. +`docker-compose.yml` mounts the license read-only: + +```yaml +- "${SANAD_LICENSE_FILE:-./license/sanad.lic.example}:/etc/sanad/sanad.lic:ro" +``` + +**Bundled demo license** (`license/sanad.lic.example`): robot_id `G1-SN-DEMO-0001`, +**unbound**, expires `2030-01-01`. It entitles **P1 + P3** with feature +`language=ar`, so **P1 starts out of the box** for evaluation. P1 itself is gated by +the license `packages.P1` bit; the `language` feature sets the default conversation +language when `SANAD_LANGUAGE` is unset. + +**Sign a real per-robot license (vendor side — keep the private key OFF the robot):** + +```bash +# once: generate the vendor keypair (privkey stays on the workstation) +python licensing/sign_license.py gen-keys --out-dir . +# edit claims.json — set packages{P1..P4}, features{...}, robot_id +# (+ optional machine_fingerprint for hardware binding) +python licensing/sign_license.py sign --key privkey.ed25519 --in claims.json --out sanad.lic +``` + +Put `sanad.lic` on the robot and point `SANAD_LICENSE_FILE` at it (or replace +`license/sanad.lic.example`). **Optional hardware binding:** set +`SANAD_LICENSE_BIND=1` to bind to the machine fingerprint (also uncomment the +`/etc/machine-id` mount in `docker-compose.yml`). Verify entitlement the way the +entrypoint does: + +```bash +SANAD_LICENSE=license/sanad.lic python -m sanad_pkg.license_check P1 +``` + +The full brand-new-robot signing/binding walkthrough is in +**[`NEW_ROBOT_SETUP.md`](NEW_ROBOT_SETUP.md)**. + +--- + +## Status + +**Built + validated locally, and already built + smoke-tested on the dev robot +(11/11 PASS).** P1 is the reference-tested package. The remaining gate for the +other packages (P2/P3/P4) is the on-robot Docker build + smoke test — P1 has +already cleared it.