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b82aa95 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 | import logging
import argparse
import warnings
from typing import Any, Tuple, Optional
from reachy_mini import ReachyMini
from reachy_mini_conversation_app.camera_worker import CameraWorker
def parse_args() -> Tuple[argparse.Namespace, list]: # type: ignore
"""Parse command line arguments."""
parser = argparse.ArgumentParser("Reachy Mini Conversation App")
parser.add_argument(
"--head-tracker",
choices=["yolo", "mediapipe", None],
default=None,
help="Choose head tracker (default: None)",
)
parser.add_argument("--no-camera", default=False, action="store_true", help="Disable camera usage")
parser.add_argument(
"--local-vision",
default=False,
action="store_true",
help="Use local vision model instead of gpt-realtime vision",
)
parser.add_argument("--gradio", default=False, action="store_true", help="Open gradio interface")
parser.add_argument("--debug", default=False, action="store_true", help="Enable debug logging")
parser.add_argument(
"--robot-name",
type=str,
default=None,
help="[Optional] Robot name/prefix for Zenoh topics (must match daemon's --robot-name). Only needed for development with multiple robots.",
)
return parser.parse_known_args()
def handle_vision_stuff(args: argparse.Namespace, current_robot: ReachyMini) -> Tuple[CameraWorker | None, Any, Any]:
"""Initialize camera, head tracker, camera worker, and vision manager.
By default, vision is handled by gpt-realtime model when camera tool is used.
If --local-vision flag is used, a local vision model will process images periodically.
"""
camera_worker = None
head_tracker = None
vision_manager = None
if not args.no_camera:
# Initialize head tracker if specified
if args.head_tracker is not None:
if args.head_tracker == "yolo":
from reachy_mini_conversation_app.vision.yolo_head_tracker import HeadTracker
head_tracker = HeadTracker()
elif args.head_tracker == "mediapipe":
from reachy_mini_toolbox.vision import HeadTracker # type: ignore[no-redef]
head_tracker = HeadTracker()
# Initialize camera worker
camera_worker = CameraWorker(current_robot, head_tracker)
# Initialize vision manager only if local vision is requested
if args.local_vision:
try:
from reachy_mini_conversation_app.vision.processors import initialize_vision_manager
vision_manager = initialize_vision_manager(camera_worker)
except ImportError as e:
raise ImportError(
"To use --local-vision, please install the extra dependencies: pip install '.[local_vision]'",
) from e
else:
logging.getLogger(__name__).info(
"Using gpt-realtime for vision (default). Use --local-vision for local processing.",
)
return camera_worker, head_tracker, vision_manager
def setup_logger(debug: bool) -> logging.Logger:
"""Setups the logger."""
log_level = "DEBUG" if debug else "INFO"
logging.basicConfig(
level=getattr(logging, log_level, logging.INFO),
format="%(asctime)s %(levelname)s %(name)s:%(lineno)d | %(message)s",
)
logger = logging.getLogger(__name__)
# Suppress WebRTC warnings
warnings.filterwarnings("ignore", message=".*AVCaptureDeviceTypeExternal.*")
warnings.filterwarnings("ignore", category=UserWarning, module="aiortc")
# Tame third-party noise (looser in DEBUG)
if log_level == "DEBUG":
logging.getLogger("aiortc").setLevel(logging.INFO)
logging.getLogger("fastrtc").setLevel(logging.INFO)
logging.getLogger("aioice").setLevel(logging.INFO)
logging.getLogger("httpx").setLevel(logging.WARNING)
logging.getLogger("websockets").setLevel(logging.INFO)
else:
logging.getLogger("aiortc").setLevel(logging.ERROR)
logging.getLogger("fastrtc").setLevel(logging.ERROR)
logging.getLogger("aioice").setLevel(logging.WARNING)
return logger
def log_connection_troubleshooting(logger: logging.Logger, robot_name: Optional[str]) -> None:
"""Log troubleshooting steps for connection issues."""
logger.error("Troubleshooting steps:")
logger.error(" 1. Verify reachy-mini-daemon is running")
if robot_name is not None:
logger.error(
f" 2. Daemon must be started with: --robot-name '{robot_name}'"
)
else:
logger.error(
" 2. If daemon uses --robot-name, add the same flag here: "
"--robot-name <name>"
)
logger.error(" 3. For wireless: check network connectivity")
logger.error(" 4. Review daemon logs")
logger.error(" 5. Restart the daemon")
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