master_service unlinks and recreates master_service.sock on every host boot
or restart, and a bind mount of the file pins the old (dead) inode, so every
mscli call inside the container failed with "Connect to server error".
Mount the directory instead. The entrypoint wraps "mscli stopservice
video_hub_pc4" in stop_videohub(), which prints a WARN when mscli cannot
reach master_service (then /dev/video4 stays busy and the camera will not
open), at start and in the 10 s loop.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Mount mscli + master_service.sock into the container and stop
video_hub_pc4 at startup (and every 10s) so the RealSense pipeline
can open the D435i V4L2 node without EBUSY.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Sostituisce il healthcheck banale (urlopen /api/health) con uno che
fallisce quando camera_open != true, e aggiunge il container willfarrell/autoheal
che restarta il backend quando Docker lo marca unhealthy. Recovery <1min
da SDK stuck senza intervento SSH.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Drop-in replacement for the Nuwa-HP60C camera container, exposing RGB +
aligned depth + intrinsics via REST/WebSocket so the existing
pestello-pose-detector pipeline can consume frames without changes.
Key adaptations for D4xx on USB 2.0 (this robot has no USB 3 port exposed
externally — see STATUS.md):
- pyrealsense2 built from source; the librealsense v2.55.1 install rule
doesn't ship the main .so, so we copy it from the build dir and add an
__init__.py that re-exports the submodule.
- Color stream uses YUYV format on USB 2.x (BGR8/RGB8 time out on this
bus); converted to BGR via cv2.cvtColor in capture().
- rs.align is skipped on USB 2 (incompatible with YUYV); color is
cv2-resized to depth shape for approximate per-pixel alignment.
- Driver auto-detects usb_type_descriptor and falls back to the
full-resolution BGR8 + rs.align pipeline when on USB 3.
Tested: /api/{health,status,discover,rgb,depth,depth/color,capture,
intrinsics} all return 200 with valid payloads at 640x480.
OliviaCandClaude Opus 4.7