# Saqr PPE Detection — Deployment Guide
## Unitree G1 Robot + Intel RealSense D435I

---

## Robot Details

| Item | Value |
|------|-------|
| Robot | Unitree G1 Humanoid |
| IP | `192.168.123.164` |
| User | `unitree` |
| OS | Ubuntu 20.04 (aarch64 / Jetson) |
| Python | 3.10 (conda env: `marcus`, legacy: `teleimager`) |
| Camera | Intel RealSense D435I |
| Serial | `243622073459` |
| Port | USB 3.2 @ `/dev/video0` |

---

## Repo layout

```
saqr/           # python package (core/apps/gui/robot/utils)
scripts/        # deploy.sh, start_saqr.sh, run_local.sh, run_robot.sh, saqr-bridge.service
config/         # logging.json
data/           # dataset/, models/        (gitignored)
runtime/        # captures/, logs/, runs/  (gitignored)
docs/           # this file, start.md, use_case_catalogue.pdf
pyproject.toml  # installs the `saqr`, `saqr-bridge`, `saqr-gui`, ... scripts
```

---

## Step 1: Train the Model (Dev Machine)

```bash
cd ~/Robotics_workspace/yslootahtech/Project/Saqr
conda activate AI_MSI_yolo
pip install -e .
saqr-train --dataset data/dataset --epochs 100 --batch 16
```

Verify model exists:
```bash
ls -lh data/models/saqr_best.pt
# Expected: ~5.3 MB
```

---

## Step 2: Deploy to Robot (Dev Machine)

```bash
# From the project root:
scripts/deploy.sh                    # rsync the tree + pip install -e
scripts/deploy.sh --run              # ...and start the bridge
scripts/deploy.sh --ip 10.0.0.5      # custom robot IP
```

The script rsyncs `saqr/`, `scripts/`, `config/`, `docs/`,
`pyproject.toml`, `requirements.txt`, and `README.md` to
`~/Saqr` on the robot, then runs `pip install -e .` inside the
target conda env (default `marcus`).

---

## Step 3: Install Dependencies (Robot, one-time)

If `scripts/deploy.sh` ran `pip install -e .` successfully, you're done.
Otherwise, on the robot:

```bash
ssh unitree@192.168.123.164
source ~/miniconda3/etc/profile.d/conda.sh
conda activate marcus
cd ~/Saqr
pip install -e .
```

### Jetson GPU PyTorch (JetPack 5.1 / CUDA 11.4)

```bash
pip uninstall torch torchvision -y
pip install --no-cache-dir \
  https://developer.download.nvidia.com/compute/redist/jp/v51/pytorch/torch-2.1.0a0+41361538.nv23.06-cp310-cp310-linux_aarch64.whl
pip install --no-cache-dir \
  https://developer.download.nvidia.com/compute/redist/jp/v51/pytorch/torchvision-0.16.1a0+5e8e2f1-cp310-cp310-linux_aarch64.whl
```

### System clock (pip/SSL need a correct date)

```bash
sudo date -s "2026-04-10 15:00:00"
```

### Verify

```bash
python -c "from ultralytics import YOLO; print('ultralytics OK')"
python -c "import torch; print('CUDA:', torch.cuda.is_available())"
python -c "import cv2; print('opencv OK')"
python -c "import saqr; print('saqr', saqr.__version__)"
```

---

## Step 4: Run Saqr (Robot)

### Production: bridge with R2+X / R2+Y

The bridge owns the DDS clients and spawns `saqr` on demand. On the robot:

```bash
cd ~/Saqr
scripts/start_saqr.sh                 # manual launch
sudo systemctl restart saqr-bridge    # systemd-managed (see start.md)
```

Or without the helper script:

```bash
conda activate marcus
python -m saqr.robot.bridge --iface eth0 --source realsense --headless -- --stream 8080
```

### Plain saqr (no bridge)

```bash
# With display
scripts/run_robot.sh --stream 8080

# Headless
scripts/run_robot.sh --headless --stream 8080

# V4L2 fallback if RealSense SDK won't enumerate
scripts/run_robot.sh --source /dev/video2 --headless
```

Equivalent `python -m` forms:

```bash
python -m saqr.apps.saqr_cli --source realsense --model saqr_best.pt --headless
python -m saqr.apps.detect_cli --source /dev/video2 --model saqr_best.pt
python -m saqr.apps.manager_cli --export
```

### Dev machine GUI

```bash
pip install -e ".[gui]"
python -m saqr.gui.app --source 0
```

---

## Bridge behavior (R2+X / R2+Y)

| Press | Action |
|-------|--------|
| **R2 + X** | Start saqr subprocess. Robot stays silent (no "Saqr activated." — see note below). |
| **R2 + Y** | Stop saqr, robot says **"Saqr deactivated."** Bridge stays ready. |
| **Ctrl+C** in terminal | Stop saqr (if running) and exit the bridge. |

### Per-detection behavior (while saqr is running)

| Transition | TTS (speaker_id=2, English) | Arm action |
|------------|-----------------------------|------------|
| → UNSAFE   | "Please stop. Wear your proper safety equipment. You are missing **{items}**." | `reject` (id=13) + auto `release arm` |
| → SAFE     | "Safe to enter. Have a good day." | — |
| → PARTIAL  | — | — |

Bridge startup announces **"Saqr is running. Press R2 plus X to start."**.

> **Note on speaker_id=2:** TTS speaker_ids are locked to a language on the
> current G1 firmware. `speaker_id=0` is Chinese regardless of input text.
> `speaker_id=2` was confirmed English via `Project/Sanad/voice_example.py 6`.

> **Note on SIGINT traceback:** when R2+Y stops saqr, Python may print a
> `KeyboardInterrupt` traceback from inside YOLO. The bridge catches the exit,
> announces "Saqr deactivated.", and stays alive.

---

## Bridge CLI flags

| Flag | Default | Description |
|------|---------|-------------|
| `--iface` | *(default DDS)* | DDS network interface, e.g. `eth0` |
| `--timeout` | `10.0` | Arm/Audio/LowState client timeout (seconds) |
| `--cooldown` | `8.0` | Per-(track_id, status) seconds before re-triggering TTS/arm |
| `--release-after` | `2.0` | Seconds before auto `release arm` (0 = never) |
| `--speaker-id` | `2` | G1 `TtsMaker` speaker_id |
| `--dry-run` | off | Parse events but never call the SDK; implies `--no-trigger` |
| `--no-trigger` | off | Skip the R2+X/R2+Y loop and start saqr immediately |
| `--source` / `--headless` / `--saqr-conf` / `--imgsz` / `--device` | — | Passed through to saqr |
| `-- <extra>` | — | Everything after `--` is forwarded raw to saqr (e.g. `-- --stream 8080`) |

---

## Step 5: Check Results

```bash
cat runtime/captures/result.csv     # current state per tracked person
cat runtime/captures/events.csv     # audit log
ls runtime/captures/{SAFE,PARTIAL,UNSAFE}/

saqr-manager --export               # quick CSV export

# Download to dev machine
scp -r unitree@192.168.123.164:~/Saqr/runtime/captures ./captures_from_robot
```

---

## Camera sources

| Source | Flag | Notes |
|--------|------|-------|
| RealSense SDK | `--source realsense` | Uses `pyrealsense2`; preferred |
| RealSense by serial | `--source realsense:243622073459` | |
| V4L2 RGB | `--source /dev/video2` | OpenCV fallback; pure MJPG |
| First OpenCV camera | `--source 0` | |
| Video file | `--source path.mp4` | |

G1 V4L2 map for the D435I:
```
/dev/video0  - Stereo module (infrared) — won't open with OpenCV
/dev/video1  - Stereo metadata
/dev/video2  - RGB camera (640x480)    ← USE THIS
/dev/video3  - RGB metadata
/dev/video4  - RGB camera (secondary stream)
```

---

## Tuning parameters

| Parameter | Flag | Default |
|-----------|------|---------|
| Confidence | `--conf` | 0.35 |
| Max missing frames | `--max-missing` | 90 |
| Match distance (px) | `--match-distance` | 250 |
| Confirm frames | `--status-confirm-frames` | 5 |

Recommended for G1 patrol:
```bash
saqr --source realsense --headless \
     --conf 0.30 --max-missing 120 --match-distance 300 --status-confirm-frames 7
```

---

## Compliance rules

| Status | Condition | Colour |
|--------|-----------|--------|
| SAFE | Helmet AND vest, no violations | Green |
| PARTIAL | Only helmet OR only vest | Yellow |
| UNSAFE | `no-helmet` or `no-vest`, or nothing detected | Red |

---

## Output files

| File | Location | Description |
|------|----------|-------------|
| `result.csv` | `runtime/captures/` | Current state of tracked persons |
| `events.csv` | `runtime/captures/` | Audit log (NEW / STATUS_CHANGE) |
| Person crops | `runtime/captures/{SAFE,PARTIAL,UNSAFE}/*.jpg` | Latest crop per track |
| Logs | `runtime/logs/Inference/*.log` | Module log output |

---

## Source map

| Path | Purpose |
|------|---------|
| [saqr/apps/saqr_cli.py](../saqr/apps/saqr_cli.py) | Main PPE tracking entry (`saqr`) |
| [saqr/robot/bridge.py](../saqr/robot/bridge.py) | Saqr → G1 bridge (R2+X/R2+Y) |
| [saqr/robot/robot_controller.py](../saqr/robot/robot_controller.py) | G1 arm + audio + TTS worker |
| [saqr/robot/controller.py](../saqr/robot/controller.py) | G1 wireless-remote DDS reader |
| [saqr/core/pipeline.py](../saqr/core/pipeline.py) | Per-frame detect + track + emit |
| [saqr/core/tracking.py](../saqr/core/tracking.py) | `PersonTracker`, `Track` |
| [saqr/core/events.py](../saqr/core/events.py) | Event-line format (contract with bridge) |
| [saqr/apps/detect_cli.py](../saqr/apps/detect_cli.py) | Simple detection without tracking |
| [saqr/apps/train_cli.py](../saqr/apps/train_cli.py) | YOLO11n training |
| [saqr/apps/manager_cli.py](../saqr/apps/manager_cli.py) | Capture CRUD + CSV export |
| [saqr/gui/app.py](../saqr/gui/app.py) | PySide6 desktop GUI |

---

## Troubleshooting

### RealSense not detected
```bash
lsusb | grep Intel
rs-enumerate-devices | head -10
sudo usbreset /dev/bus/usb/002/002   # if the USB is stuck
```

### ModuleNotFoundError: saqr
```bash
# Make sure you're in the right env and the package is installed
which python
pip install -e ~/Saqr
```

### System clock wrong (SSL errors)
```bash
sudo date -s "2026-04-10 15:00:00"
```

### Model not found
```bash
ls ~/Saqr/data/models/       # should list saqr_best.pt
```

### Too many duplicate track IDs
```bash
saqr --source realsense --max-missing 150 --match-distance 300 --headless
```