# Saqr — Auto-start on boot

How to auto-start `saqr.robot.bridge` on every boot of the Unitree G1
(Jetson), via `systemd` + `scripts/start_saqr.sh`.

---

## Files involved

| File | Role |
|------|------|
| `~/Saqr/saqr/robot/bridge.py` | The bridge process (DDS + TTS + R2+X/R2+Y trigger loop). Entry point: `python -m saqr.robot.bridge`. |
| `~/Saqr/scripts/start_saqr.sh` | Bash launcher: sources conda, activates `marcus`, `cd ~/Saqr`, exec the bridge with the production flags. |
| `~/Saqr/scripts/saqr-bridge.service` | systemd unit that runs `start_saqr.sh` as user `unitree` on every boot, restarts on failure, logs to journalctl. |

---

## One-time install

Run these on the robot:

```bash
# 1. Make sure the launcher is executable.
chmod +x ~/Saqr/scripts/start_saqr.sh

# 2. Install the systemd unit system-wide so it starts at BOOT
#    (not just at login).
sudo cp ~/Saqr/scripts/saqr-bridge.service /etc/systemd/system/
sudo systemctl daemon-reload

# 3. Enable + start it now.
sudo systemctl enable --now saqr-bridge

# 4. Verify it came up.
sudo systemctl status saqr-bridge
```

You should hear **"Saqr is running. Press R2 plus X to start."** on the
robot speaker within ~10 seconds. From then on, every reboot auto-starts
the bridge — no terminal needed.

---

## Daily commands

```bash
journalctl -u saqr-bridge -f                  # follow live log
sudo systemctl restart saqr-bridge
sudo systemctl stop saqr-bridge
sudo systemctl start saqr-bridge
sudo systemctl disable saqr-bridge            # stop auto-starting at boot
sudo systemctl enable saqr-bridge
journalctl -u saqr-bridge -n 100 --no-pager   # last 100 lines
journalctl -u saqr-bridge -b                  # only this boot's logs
```

---

## ⚠️ Don't run two bridges at once

Once the systemd service is enabled, the bridge is **already running** in
the background. If you also run `scripts/start_saqr.sh` in a terminal you'll
have two bridges fighting over the same DDS clients (`R2+X pressed -> start saqr`
followed immediately by `start ignored — saqr already running`).

Pick one mode:

```bash
# Production: let systemd own the bridge.
sudo systemctl start saqr-bridge
journalctl -u saqr-bridge -f

# Dev / debugging: stop the systemd one first.
sudo systemctl stop saqr-bridge
~/Saqr/scripts/start_saqr.sh
```

---

## Quick reboot test

```bash
sudo reboot

ssh unitree@192.168.123.164
sudo systemctl status saqr-bridge     # should be "active (running)"
journalctl -u saqr-bridge -n 50       # includes the "Saqr is running" TTS
```

---

## Updating the bridge / launcher / unit

```bash
# If you changed start_saqr.sh or anything in saqr/:
sudo systemctl restart saqr-bridge

# If you changed saqr-bridge.service itself:
sudo cp ~/Saqr/scripts/saqr-bridge.service /etc/systemd/system/
sudo systemctl daemon-reload
sudo systemctl restart saqr-bridge
```

---

## Configuration overrides

`start_saqr.sh` reads its config from environment variables, so you can
override any of them without editing the script. Defaults:

| Variable      | Default              | Meaning |
|---------------|----------------------|---------|
| `SAQR_DIR`    | *(parent of `scripts/`)* | Project root on the robot. |
| `CONDA_ROOT`  | `$HOME/miniconda3`   | Miniconda install path. |
| `CONDA_ENV`   | `marcus`             | Conda env with `unitree_sdk2py`, `ultralytics`, `pyrealsense2`. |
| `DDS_IFACE`   | `eth0`               | DDS network interface. |
| `SAQR_SOURCE` | `realsense`          | `--source` passed to saqr. |
| `STREAM_PORT` | `8080`               | MJPEG stream port (`-- --stream $STREAM_PORT`). |

To override permanently in systemd, add `Environment=` lines to
`/etc/systemd/system/saqr-bridge.service`:

```ini
Environment=SAQR_SOURCE=/dev/video2
Environment=STREAM_PORT=9090
```

Then `sudo systemctl daemon-reload && sudo systemctl restart saqr-bridge`.

---

## Troubleshooting

### Service won't start

```bash
sudo systemctl status saqr-bridge
journalctl -u saqr-bridge -n 100 --no-pager
```

Common causes:
- `scripts/start_saqr.sh` not executable → `chmod +x ~/Saqr/scripts/start_saqr.sh`
- conda env name wrong → check `CONDA_ENV`
- `saqr` package not installed → `cd ~/Saqr && pip install -e .`
- `unitree_sdk2py` missing in the env → run `scripts/start_saqr.sh` by hand to see the import error
- DDS interface wrong → set `DDS_IFACE=enp...` if the G1 isn't on `eth0`

### "No device connected" when pressing R2+X

The RealSense USB hiccup. The bridge stays alive and announces
**"Camera not connected. Please plug in the camera and try again."** —
just unplug/replug the camera and press R2+X again. If it persists, fall
back to the V4L2 path by editing the systemd unit:

```bash
sudo systemctl edit saqr-bridge
# add:
[Service]
Environment=SAQR_SOURCE=/dev/video2
# save, then:
sudo systemctl restart saqr-bridge
```

### Bridge is running twice

```bash
ps -ef | grep "saqr.robot.bridge"
sudo systemctl restart saqr-bridge
```