# 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/
├── core/           # detection + tracking + events (shared by CLI/GUI/bridge)
├── apps/           # CLI entry points (saqr, detect, train, manager, view_stream)
├── gui/            # PySide6 desktop GUI
├── robot/          # G1 bridge + DDS controller
├── utils/          # logger
├── scripts/        # start_saqr.sh (entry), saqr-bridge.service (systemd), deploy.sh
├── config/         # logging.json
├── data/           # dataset/, models/        (gitignored)
├── runtime/        # captures/, runs/         (gitignored)
├── logs/           # per-module .log files    (gitignored)
├── docs/           # this file, start.md, use_case_catalogue.pdf
├── pyproject.toml  # installs the package (no console scripts — use start_saqr.sh)
└── README.md
```

`core/`, `apps/`, `gui/`, `robot/`, and `utils/` are the importable Python
packages. Run them via `python -m apps.saqr_cli`, `python -m robot.bridge`,
etc. The project root is auto-detected from `core/paths.py`; override with
`SAQR_ROOT=/custom/path` if the tree lives elsewhere.

---

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

```bash
cd ~/Robotics_workspace/yslootahtech/Project/Saqr
conda activate AI_MSI_yolo
pip install -e .
python -m apps.train_cli --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 `core/`, `apps/`, `gui/`, `robot/`, `utils/`, `scripts/`,
`config/`, `docs/`, and `pyproject.toml` 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 core.paths; print('project root:', core.paths.PROJECT_ROOT)"
```

---

## Step 4: Run Saqr (Robot)

**The project has one entry point: [scripts/start_saqr.sh](../scripts/start_saqr.sh).**
Everything — conda activation, DDS iface, camera source, stream port — is
read from `config/robot_config.json.start_saqr` (env vars override).

```bash
cd ~/Saqr
scripts/start_saqr.sh                 # manual (foreground, Ctrl+C to stop)
sudo systemctl restart saqr-bridge    # systemd-owned (see start.md)
```

The launcher execs `python -m robot.bridge` with the production flags.
The bridge owns the DDS clients and spawns `python -m apps.saqr_cli` as a
subprocess when R2+X is pressed.

### Overrides (no config edit)

```bash
SAQR_SOURCE=/dev/video2 scripts/start_saqr.sh   # V4L2 fallback
CONDA_ENV=teleimager    scripts/start_saqr.sh
DDS_IFACE=wlan0         scripts/start_saqr.sh
STREAM_PORT=9090        scripts/start_saqr.sh
```

### Companion utilities (off the run path)

Operators occasionally need these on the robot. They're not part of the
normal run flow:

```bash
python -m apps.manager_cli --export      # dump a CSV report
python -m apps.manager_cli               # interactive photo CRUD
```

Training (dev machine only):
```bash
python -m apps.train_cli --epochs 100
```

---

## 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}/

python -m apps.manager_cli --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 | `logs/Inference/*.log` | Module log output |

---

## Source map

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