# Saqr — Auto-start on boot

How to make `saqr_g1_bridge.py` run automatically on every boot of the
Unitree G1 (Jetson), via `systemd` + `start_saqr.sh`.

---

## Files involved

| File | Role |
|------|------|
| `~/Saqr/saqr_g1_bridge.py` | The bridge process (DDS + TTS + R2+X/R2+Y trigger loop). |
| `~/Saqr/start_saqr.sh`     | Bash launcher: sources conda, activates `marcus`, `cd ~/Saqr`, exec the bridge with the right flags. |
| `~/Saqr/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/start_saqr.sh

# 2. Install the systemd unit system-wide so it starts at BOOT
#    (not just at login).
sudo cp ~/Saqr/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
# Follow the live bridge log (replaces the terminal you used to ssh into).
journalctl -u saqr-bridge -f

# Stop / start / restart on demand.
sudo systemctl restart saqr-bridge
sudo systemctl stop saqr-bridge
sudo systemctl start saqr-bridge

# Disable auto-start at boot (the service stays installed).
sudo systemctl disable saqr-bridge

# Re-enable auto-start at boot.
sudo systemctl enable saqr-bridge

# Show the most recent 100 log lines (e.g. after a reboot).
journalctl -u saqr-bridge -n 100 --no-pager

# Show only this boot's logs.
journalctl -u saqr-bridge -b
```

---

## ⚠️ 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 `./start_saqr.sh` in a terminal you'll have
two bridges fighting over the same DDS clients (you'll see lines like
`R2+X pressed -> start saqr` immediately followed by
`start ignored — saqr already running`, because both bridges react to the
same wireless-remote events).

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, then run by hand.
sudo systemctl stop saqr-bridge
~/Saqr/start_saqr.sh
```

---

## Quick reboot test

```bash
sudo reboot

# After the robot is back up:
ssh unitree@192.168.123.164
sudo systemctl status saqr-bridge     # should be "active (running)"
journalctl -u saqr-bridge -n 50       # boot log including the
                                      # "Saqr is running" TTS line
```

---

## Updating the bridge / launcher / unit

After editing any of the three files:

```bash
# If you changed start_saqr.sh or saqr_g1_bridge.py:
sudo systemctl restart saqr-bridge

# If you changed saqr-bridge.service itself:
sudo cp ~/Saqr/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`    | `$HOME/Saqr`     | Where `saqr_g1_bridge.py` lives. |
| `CONDA_ROOT`  | `$HOME/miniconda3` | Miniconda install path. |
| `CONDA_ENV`   | `marcus`         | Conda env that has `unitree_sdk2py`, `ultralytics`, `pyrealsense2`. |
| `DDS_IFACE`   | `eth0`           | DDS network interface for the G1. |
| `SAQR_SOURCE` | `realsense`      | `--source` passed to saqr (`realsense` / `/dev/video2` / `0`). |
| `STREAM_PORT` | `8080`           | MJPEG stream port (`-- --stream $STREAM_PORT`). |

To override permanently in the systemd service, add `Environment=` lines
to `/etc/systemd/system/saqr-bridge.service` and run
`sudo systemctl daemon-reload && sudo systemctl restart saqr-bridge`.
Example:

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

---

## Troubleshooting

### Service won't start

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

Common causes:
- `start_saqr.sh` not executable → `chmod +x ~/Saqr/start_saqr.sh`
- conda env name wrong → check `CONDA_ENV`
- `unitree_sdk2py` missing in the env → run `~/Saqr/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:

```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_g1_bridge
# If you see two python processes, kill the manual one and let systemd own it:
sudo systemctl restart saqr-bridge
```