# 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: `teleimager`) |
| Camera | Intel RealSense D435I |
| Serial | `243622073459` |
| Port | USB 3.2 @ `/dev/video0` |

---

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

```bash
cd ~/Robotics_workspace/AI/Saqr
conda activate AI_MSI_yolo
python train.py --dataset dataset --epochs 100 --batch 16
```

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

---

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

### Option A: Auto deploy
```bash
cd ~/Robotics_workspace/AI/Saqr
./deploy.sh
```

### Option B: Manual SCP
```bash
# Create folders
ssh unitree@192.168.123.164 "mkdir -p ~/Saqr/{models,captures/{SAFE,PARTIAL,UNSAFE},Config,Logs}"

# Copy project files
scp saqr.py saqr_g1_bridge.py controller.py detect.py manager.py logger.py gui.py requirements.txt deploy.sh DEPLOY.md \
    unitree@192.168.123.164:~/Saqr/

# Copy config
scp Config/logging.json unitree@192.168.123.164:~/Saqr/Config/

# Copy trained model (5.3 MB)
scp models/saqr_best.pt unitree@192.168.123.164:~/Saqr/models/
```

---

## Step 3: Install Dependencies (Robot)

```bash
ssh unitree@192.168.123.164
```

### Fix system clock (required for SSL/pip):
```bash
sudo date -s "2026-04-10 15:00:00"
```

### Install into teleimager conda env:
```bash
conda activate teleimager
python -m pip install ultralytics opencv-python-headless numpy PyYAML
```

If pip fails (SSL errors), install offline from dev machine:
```bash
# On dev machine:
mkdir -p /tmp/saqr_pkgs
pip download ultralytics opencv-python-headless numpy PyYAML \
    -d /tmp/saqr_pkgs --python-version 3.10 --platform manylinux2014_aarch64 --only-binary=:all:
scp -r /tmp/saqr_pkgs unitree@192.168.123.164:/tmp/saqr_pkgs

# On robot:
conda activate teleimager
python -m pip install --no-index --find-links=/tmp/saqr_pkgs ultralytics opencv-python-headless numpy PyYAML
```

### Install Jetson GPU PyTorch (for CUDA acceleration):
```bash
# Remove pip PyTorch (wrong CUDA version)
python -m pip uninstall torch torchvision -y

# Install Jetson-specific PyTorch for JetPack 5.1 / CUDA 11.4
python -m 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

python -m 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
```

### Fix Qt / Display (choose one):

**A) At the robot's physical terminal (monitor connected):**
```bash
xhost +local:
export DISPLAY=:0
export QT_QPA_PLATFORM=xcb
```

**B) Via SSH with X11 forwarding:**
```bash
# From dev machine:
ssh -X unitree@192.168.123.164
export QT_QPA_PLATFORM=xcb
```

**C) Headless / no display (SSH without -X):**
```bash
export QT_QPA_PLATFORM=offscreen
# Always add --headless flag when running saqr.py
```

**Make permanent:**
```bash
echo 'export QT_QPA_PLATFORM=offscreen' >> ~/.bashrc
source ~/.bashrc
```

**Common error:** `Invalid MIT-MAGIC-COOKIE-1 key` or `could not connect to display :0`
This means you're in SSH without X11 auth. Either use `ssh -X`, run `xhost +local:` on the physical terminal, or switch to headless mode.

### Fix system clock (required for pip/SSL):
```bash
sudo date -s "2026-04-10 16:00:00"
```

### Verify install:
```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')"
```

---

## Step 4: Run PPE Detection (Robot)

### Option A: OpenCV + RealSense RGB (recommended, no pyrealsense2 needed):
```bash
conda activate teleimager
cd ~/Saqr

# === WITH DISPLAY (physical monitor on robot) ===
xhost +
export DISPLAY=:0
python saqr.py --source /dev/video2 --model models/saqr_best.pt

# === HEADLESS via SSH (no display, saves captures + CSV) ===
export QT_QPA_PLATFORM=offscreen
python saqr.py --source /dev/video2 --model models/saqr_best.pt --headless
```

**Note:** `/dev/video2` is the RealSense D435I RGB camera accessed directly via OpenCV V4L2.
No pyrealsense2 SDK needed. Pure OpenCV frames (640x480 BGR).

### Option B: RealSense SDK (pyrealsense2):
```bash
python saqr.py --source realsense --model models/saqr_best.pt --headless
python saqr.py --source realsense:243622073459 --model models/saqr_best.pt --headless
```

### Option C: GUI (dev machine only, not on robot):
```bash
# On your dev machine (not the robot):
python gui.py --source 0 --model models/saqr_best.pt
```
**Note:** gui.py requires PySide6 and a display. It will NOT work on the headless Jetson robot.

### With OpenCV camera index:
```bash
python saqr.py --source 0 --model models/saqr_best.pt --headless
```

### With V4L2 device path:
```bash
python saqr.py --source /dev/video0 --model models/saqr_best.pt --headless
```

### With GUI (if display connected):
```bash
python gui.py --source realsense --model models/saqr_best.pt
```

### Simple detection (no tracking):
```bash
python detect.py --source realsense --model models/saqr_best.pt
```

---

## Step 4b: Run with G1 TTS + Reject Action (Bridge)

`saqr_g1_bridge.py` is the production entry point. It does **not** run Saqr
itself — it sits idle, watches the G1 wireless remote, spawns `saqr.py` as a
subprocess on demand, and drives the G1 onboard TTS + arm action client from
Saqr's event stream.

### Wireless-remote workflow

| Press | Action |
|-------|--------|
| **R2 + X** | Start `saqr.py`, robot says **"Saqr activated."** |
| **R2 + Y** | Stop `saqr.py` (SIGINT → SIGTERM → SIGKILL escalation), robot says **"Saqr deactivated."** Bridge stays running, ready for the next R2+X. |
| **Ctrl+C** in the terminal | Stop saqr (if running) and exit the bridge cleanly. |

Each press is rising-edge debounced (release-wait), so holding the button
only fires once. Track IDs and per-id status state are reset on every
start, so a leftover SAFE from one session never suppresses an UNSAFE in
the next.

### 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}**." (or generic text if no items reported) | `reject` (id=13) + auto `release arm` |
| → SAFE     | "Safe to enter. Have a good day." | — |
| → PARTIAL  | — | — |

The missing-item list is parsed live from Saqr's event line and joined in
natural English: `"vest"`, `"helmet and vest"`, `"helmet, vest, and gloves"`.

### Architecture

- One `ChannelFactoryInitialize(0, eth0)` is shared by **all** DDS clients:
  - `G1ArmActionClient` — runs the `reject` arm action.
  - `G1 AudioClient` — `TtsMaker(text, speaker_id)` for English speech.
  - `ChannelSubscriber("rt/lowstate", LowState_)` — receives the wireless
    remote button bits.
- `controller.py` exposes `LowStateHub` + `UnitreeRemote`, parses the
  `wireless_remote` byte field, and provides `combo_r2x()` / `combo_r2y()`.
- A 50 Hz daemon thread polls the hub for rising edges and calls
  `Bridge.start_saqr()` / `Bridge.stop_saqr()`.

Requires `unitree_sdk2py` installed on the robot and a reachable DDS bus on
`eth0`. Deploy `controller.py` alongside `saqr_g1_bridge.py` — without it the
trigger loop is skipped and the bridge falls back to legacy auto-start mode.

### Recommended: production run with R2+X / R2+Y

```bash
conda activate marcus      # or teleimager — whichever env has unitree_sdk2py
cd ~/Saqr
python3 saqr_g1_bridge.py --iface eth0 --source realsense --headless -- --stream 8080
```
Boot output should include:
```
[BRIDGE] G1ArmActionClient ready (iface=eth0)
[BRIDGE] G1 AudioClient ready (speaker_id=2)
[BRIDGE] Subscribed to rt/lowstate (wireless remote)
[BRIDGE] trigger loop ready — press R2+X to start, R2+Y to stop.
```
Then press **R2+X** to begin, **R2+Y** to stop. The MJPEG stream is at
`http://192.168.123.164:8080` (only while saqr is running).

If `pyrealsense2` reports `No device connected`, fall back to the V4L2 path:
```bash
python3 saqr_g1_bridge.py --iface eth0 --source /dev/video2 --headless -- --stream 8080
```

### Live OpenCV window on the robot's physical monitor

```bash
xhost +local: >/dev/null 2>&1
DISPLAY=:0 python3 saqr_g1_bridge.py --iface eth0 --source realsense
```
`q` in the OpenCV window quits the current saqr session (same as R2+Y).

### Legacy / dev mode (no controller, no trigger)

`--no-trigger` skips the wireless-remote subscription entirely and starts
saqr immediately. Use this on the workstation or when you want the old
"always running" behavior.

```bash
# On the workstation, no robot, no SDK:
python3 saqr_g1_bridge.py --no-trigger --dry-run --source 0 --headless

# On the robot, but skipping the trigger:
python3 saqr_g1_bridge.py --no-trigger --iface eth0 --source realsense --headless
```

`--dry-run` automatically implies `--no-trigger` (no SDK = no LowState).

### 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 (2 = English on current firmware) |
| `--dry-run` | off | Parse events but never call the SDK; implies `--no-trigger` |
| `--no-trigger` | off | Skip the R2+X/R2+Y trigger loop and start saqr immediately |
| `--source` | — | Pass through to saqr (`0` / `realsense` / `/dev/video2` / path) |
| `--headless` | off | Pass `--headless` to saqr |
| `--saqr-conf` | — | Pass `--conf` to saqr |
| `--imgsz` | — | Pass `--imgsz` to saqr |
| `--device` | — | Pass `--device` to saqr (`cpu` / `0` / `cuda:0`) |
| `-- <extra>` | — | Everything after `--` is forwarded raw to saqr (use this for `--stream 8080`, `--half`, etc.) |

### Speaker-id reference

speaker_ids are **locked to a language** — they do NOT auto-detect input text.
On current G1 firmware, `speaker_id=0` is Chinese regardless of what you feed
it. Speaker 2 was confirmed English by running Sanad mode 6
(`voice_example.py 6`). If the robot's firmware changes, re-scan:
```bash
# On the robot (in a conda env with unitree_sdk2py):
python3 ~/Sanad/voice_example.py 6
```
and pass the new id with `--speaker-id N`.

### What a successful run looks like

```
[BRIDGE] G1ArmActionClient ready (iface=eth0)
[BRIDGE] G1 AudioClient ready (speaker_id=2)
[BRIDGE] Subscribed to rt/lowstate (wireless remote)
[BRIDGE] trigger loop ready — press R2+X to start, R2+Y to stop.
[BRIDGE] R2+X pressed -> start saqr
[BRIDGE] starting saqr: /.../python3 -u /home/unitree/Saqr/saqr.py --source realsense --headless --stream 8080
[BRIDGE] tts -> 'Saqr activated.'
...
ID 0002 | NEW | UNSAFE | wearing: none | missing: vest | ...
[BRIDGE] tts -> 'Please stop. Wear your proper safety equipment. You are missing vest.'
[BRIDGE] -> reject
[BRIDGE] -> release arm
ID 0003 | STATUS_CHANGE | SAFE | wearing: helmet, vest | missing: none | ...
[BRIDGE] tts -> 'Safe to enter. Have a good day.'
[BRIDGE] R2+Y pressed -> stop saqr
[BRIDGE] stopping saqr (SIGINT)
[BRIDGE] saqr exited rc=-2
[BRIDGE] tts -> 'Saqr deactivated.'
```

> **Note on the SIGINT traceback:** when R2+Y stops saqr, you may see a
> Python `KeyboardInterrupt` traceback unwinding from inside YOLO. This is
> expected — saqr.py doesn't catch SIGINT explicitly, so Python prints the
> stack on its way out. The bridge correctly detects the exit, announces
> "Saqr deactivated.", and stays alive ready for the next R2+X.

---

## Step 5: Check Results (Robot)

### Live status:
```bash
cat ~/Saqr/captures/result.csv
```

### Event history (audit log):
```bash
cat ~/Saqr/captures/events.csv
```

### Captured photos:
```bash
ls ~/Saqr/captures/SAFE/
ls ~/Saqr/captures/PARTIAL/
ls ~/Saqr/captures/UNSAFE/
```

### Export CSV report:
```bash
cd ~/Saqr
python manager.py --export
```

### Download results to dev machine:
```bash
# From dev machine
scp -r unitree@192.168.123.164:~/Saqr/captures/ ./captures_from_robot/
scp unitree@192.168.123.164:~/Saqr/captures/events.csv ./events_robot.csv
```

---

## Camera Source Options

| Source | Command | Description |
|--------|---------|-------------|
| `/dev/video2` | `--source /dev/video2` | **RGB camera via OpenCV (recommended)** |
| `realsense` | `--source realsense` | RealSense D435I via pyrealsense2 SDK |
| `realsense:SERIAL` | `--source realsense:243622073459` | Specific RealSense by serial |
| `/dev/video4` | `--source /dev/video4` | Second RGB stream (if available) |
| `0` | `--source 0` | First OpenCV camera index |
| `video.mp4` | `--source video.mp4` | Video file |
| `image.jpg` | `--source image.jpg` | Single image |

### G1 Robot V4L2 Device Map (RealSense 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)
```

### Detect cameras on robot:
```bash
# Find working RGB cameras
python -c "
import cv2
for i in range(10):
    cap = cv2.VideoCapture(f'/dev/video{i}', cv2.CAP_V4L2)
    if cap.isOpened():
        ret, frame = cap.read()
        if ret and frame is not None:
            print(f'/dev/video{i}: {frame.shape} OK')
        else:
            print(f'/dev/video{i}: opened but no frame')
        cap.release()
"

# RealSense devices
rs-enumerate-devices | grep "Serial Number"
```

---

## Tuning Parameters

| Parameter | Default | Flag | Description |
|-----------|---------|------|-------------|
| Confidence | 0.35 | `--conf 0.35` | Lower = more detections, higher = fewer false positives |
| Max Missing | 90 | `--max-missing 90` | Frames before track deleted (~3s at 30fps) |
| Match Distance | 250 | `--match-distance 250` | Pixels for track matching |
| Confirm Frames | 5 | `--status-confirm-frames 5` | Frames to confirm a status change |

### Recommended for G1 patrol:
```bash
python saqr.py --source realsense --model models/saqr_best.pt --headless \
    --conf 0.30 --max-missing 120 --match-distance 300 --status-confirm-frames 7
```

---

## Compliance Rules

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

---

## Output Files

| File | Location | Description |
|------|----------|-------------|
| `result.csv` | `captures/result.csv` | Current state of all tracked persons |
| `events.csv` | `captures/events.csv` | Audit log (NEW / STATUS_CHANGE events) |
| Person crops | `captures/SAFE/*.jpg` | Cropped images of compliant workers |
| Person crops | `captures/PARTIAL/*.jpg` | Workers with incomplete PPE |
| Person crops | `captures/UNSAFE/*.jpg` | Workers violating PPE rules |
| Logs | `Logs/Inference/saqr.log` | Runtime log |

---

## Project Files

| File | Purpose |
|------|---------|
| `saqr.py` | Main PPE tracking + detection (RealSense + OpenCV) |
| `saqr_g1_bridge.py` | Saqr → G1 bridge (R2+X/R2+Y trigger, onboard TTS + `reject` arm action on UNSAFE/SAFE transitions) |
| `controller.py` | G1 wireless-remote DDS reader (`LowStateHub`, `combo_r2x()`, `combo_r2y()`); required by the bridge for trigger keys |
| `detect.py` | Simple detection without tracking |
| `gui.py` | PySide6 desktop GUI |
| `manager.py` | Photo management CLI + CSV export |
| `train.py` | YOLO model training |
| `logger.py` | Centralized logging |
| `deploy.sh` | One-command deploy to robot |
| `Config/logging.json` | Log settings |

---

## Troubleshooting

### RealSense not detected
```bash
# Check USB connection
lsusb | grep Intel

# Re-enumerate
rs-enumerate-devices | head -10

# Reset USB (if needed)
sudo usbreset /dev/bus/usb/002/002
```

### Camera not opening
```bash
# Test RealSense directly
python -c "
import pyrealsense2 as rs
pipe = rs.pipeline()
cfg = rs.config()
cfg.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
pipe.start(cfg)
frames = pipe.wait_for_frames()
print('Frame:', frames.get_color_frame().get_width(), 'x', frames.get_color_frame().get_height())
pipe.stop()
"

# Test OpenCV fallback
python -c "import cv2; c=cv2.VideoCapture(0); print('OK' if c.isOpened() else 'FAIL'); c.release()"

# Try different source
python saqr.py --source /dev/video0 --model models/saqr_best.pt --headless
```

### ModuleNotFoundError: ultralytics
```bash
# Check you're in the right conda env
which python
# Should show: /home/unitree/miniconda3/envs/teleimager/bin/python

# Install to the correct env
python -m pip install ultralytics
```

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

### Model not found
```bash
ls ~/Saqr/models/
# Should show: saqr_best.pt (~5.3 MB)
```

### Low FPS on Jetson
```bash
# Use smaller confidence to reduce load
python saqr.py --source realsense --conf 0.5 --headless

# Or use headless opencv
export DISPLAY=
python saqr.py --source realsense --headless
```

### Too many duplicate track IDs
```bash
# Increase tolerance
python saqr.py --source realsense --max-missing 150 --match-distance 300 --headless
```