Initial commit

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
2026-10-04 14:28:01 -07:00
commit 4bd4729b46
44 changed files with 519803 additions and 0 deletions
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+#!/usr/bin/env bash
+# Robot setup for Raspberry Pi OS Lite (64-bit) on a Pi Zero 2 W.
+# Run as your normal user (not root) from inside this "pi" folder:
+#
+#     ./install.sh <omarchy-machine-ip> [--servos]
+#
+# Safe to re-run. Reboot afterwards so the I2S sound card overlay takes effect.
+set -euo pipefail
+
+HOST_IP="${1:-}"
+SERVOS=0
+[[ "${2:-}" == "--servos" ]] && SERVOS=1
+
+if [[ -z "$HOST_IP" || ! "$HOST_IP" =~ ^[0-9]{1,3}(\.[0-9]{1,3}){3}$ ]]; then
+    echo "usage: $0 <omarchy-machine-ipv4> [--servos]" >&2
+    exit 1
+fi
+if [[ $EUID -eq 0 ]]; then
+    echo "Run this as your normal user; it calls sudo where needed." >&2
+    exit 1
+fi
+
+HERE="$(cd "$(dirname "$0")" && pwd)"
+ME="$(id -un)"
+CONFIG_TXT=/boot/firmware/config.txt
+[[ -f $CONFIG_TXT ]] || CONFIG_TXT=/boot/config.txt
+
+echo "==> Installing packages"
+sudo apt-get update
+sudo apt-get install -y --no-install-recommends \
+    python3-picamera2 python3-venv \
+    pipewire pipewire-pulse pipewire-alsa wireplumber libspa-0.2-modules \
+    pulseaudio-utils alsa-utils nftables openssl
+
+echo "==> Enabling the I2S microphone/amplifier overlay in $CONFIG_TXT"
+add_line() { grep -qxF "$1" "$CONFIG_TXT" || echo "$1" | sudo tee -a "$CONFIG_TXT" >/dev/null; }
+add_line "dtparam=i2s=on"
+add_line "dtoverlay=googlevoicehat-soundcard"
+if [[ $SERVOS -eq 1 ]]; then
+    add_line "dtparam=i2c_arm=on"
+fi
+
+echo "==> Installing the MCP server to /opt/robot-mcp"
+sudo mkdir -p /opt/robot-mcp
+sudo chown "$ME:$ME" /opt/robot-mcp
+cp "$HERE/robot_mcp_server.py" /opt/robot-mcp/
+# --system-site-packages so the venv can see the apt-installed picamera2/libcamera
+[[ -d /opt/robot-mcp/venv ]] || python3 -m venv --system-site-packages /opt/robot-mcp/venv
+/opt/robot-mcp/venv/bin/pip install --upgrade pip >/dev/null
+/opt/robot-mcp/venv/bin/pip install -r "$HERE/requirements.txt"
+if [[ $SERVOS -eq 1 ]]; then
+    /opt/robot-mcp/venv/bin/pip install adafruit-circuitpython-servokit
+fi
+
+echo "==> Writing /etc/robot-mcp.env"
+if ! sudo test -f /etc/robot-mcp.env; then
+    TOKEN="$(openssl rand -hex 32)"
+    sudo tee /etc/robot-mcp.env >/dev/null <<EOF
+ROBOT_MCP_TOKEN=$TOKEN
+ROBOT_MCP_PORT=8765
+ROBOT_CAM_SIZE=1280x720
+ROBOT_CAM_HFLIP=0
+ROBOT_CAM_VFLIP=0
+ROBOT_SERVOS=$SERVOS
+EOF
+    sudo chown root:"$ME" /etc/robot-mcp.env
+    sudo chmod 640 /etc/robot-mcp.env
+else
+    sudo sed -i "s/^ROBOT_SERVOS=.*/ROBOT_SERVOS=$SERVOS/" /etc/robot-mcp.env
+fi
+
+echo "==> Installing the systemd service"
+sed "s/__USER__/$ME/g" "$HERE/robot-mcp.service" | sudo tee /etc/systemd/system/robot-mcp.service >/dev/null
+getent group i2c >/dev/null || sudo groupadd --system i2c
+sudo systemctl daemon-reload
+sudo systemctl enable robot-mcp.service
+
+echo "==> Configuring PipeWire to serve audio to $HOST_IP"
+mkdir -p ~/.config/pipewire/pipewire-pulse.conf.d
+cp "$HERE/pipewire/50-network-server.conf" ~/.config/pipewire/pipewire-pulse.conf.d/
+# Run the audio stack at boot without anyone logging in.
+sudo loginctl enable-linger "$ME"
+systemctl --user enable pipewire.socket pipewire-pulse.socket wireplumber.service 2>/dev/null || true
+
+echo "==> Restricting ports 4713 and 8765 to $HOST_IP"
+sed "s/__HOST_IP__/$HOST_IP/g" "$HERE/nftables-robot.nft" | sudo tee /etc/nftables-robot.nft >/dev/null
+grep -qxF 'include "/etc/nftables-robot.nft"' /etc/nftables.conf \
+    || echo 'include "/etc/nftables-robot.nft"' | sudo tee -a /etc/nftables.conf >/dev/null
+sudo systemctl enable nftables.service
+sudo systemctl restart nftables.service
+
+echo
+echo "Done. Reboot now:  sudo reboot"
+echo
+echo "Your MCP token (put this in ~/.hermes/.env on the Omarchy machine as ROBOT_MCP_TOKEN):"
+sudo grep '^ROBOT_MCP_TOKEN=' /etc/robot-mcp.env | cut -d= -f2