55 lines
3.3 KiB
Markdown
55 lines
3.3 KiB
Markdown
# Current state
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Last updated 2026-10-04. `HANDOFF.md` is the brief; this file tracks where the work stands.
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## Hardware on hand
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Raspberry Pi 4, BrainCraft HAT, Arducam UC-346 camera. Not yet: servos, USB-C splitter, printed
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enclosure, speakers. Work until those arrive is limited to what the Pi, HAT and camera can do.
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## Package 0a (platform proof on Ubuntu 24.04)
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- **Step 1 done.** `host/check-pi-platform.sh` passes: Ubuntu's `6.8.0-1065-raspi` kernel ships
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every driver and overlay needed (WM8960 audio, OV5647, Unicam, PWM, SPI, dwc2 gadget with
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NCM/ECM/ACM). The script needed a fix for uncompressed `data.tar` (applied to `host/` and the
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duplicate in `tools/`; **uncommitted**).
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- **Step 2 in progress: flashing the SD card.** Image chosen:
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`ubuntu-24.04.5-preinstalled-server-arm64+raspi.img.xz`, SHA256
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`b23371a5c8d02f612c26e7c18cacb81c5a48f968c7c66a2645391320aa94351e` (from
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cdimage.ubuntu.com/releases/24.04/release/SHA256SUMS). It was downloaded to the session
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scratchpad under `/tmp`, which a reboot likely cleared; re-download and re-verify.
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- The Pi is not running yet. No card has been written. `straylight` (NixOS; has `xz`, `dd`,
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`udisksctl`, no `rpi-imager`) never detected the Framework SD expansion card: no kernel event
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in two bays, so the flashing moves to **`talos`**, where the owner confirmed the card mounts.
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Continue the session there: clone the repo, read this file, re-download and re-verify the
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image (the copy on straylight is in its `/tmp`). Check talos's OS and available tools first.
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- **Open questions for the owner before flashing:** Wi-Fi credentials or Ethernet for first boot;
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hostname (proposed `hermes-robot`); username; SSH key (default `~/.ssh/id_ed25519.pub`).
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Plan: write the image after the owner confirms the device from `lsblk`, then edit cloud-init
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on the `system-boot` partition (user, key, hostname, SSH, network).
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- Remaining 0a steps after boot: ROS 2 Jazzy, audio (`wm8960-soundcard` overlay + mixer),
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camera (`cam -l`, `camera_ros`), display test pattern. PWM test waits for the servos. Ask
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before rebooting the Pi.
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## Repository
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Git repo initialised on `main` with one commit ("Initial commit"). `.gitignore` covers
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`.remember/`, caches, `.venv/`, `*.orig`, `*.rej`. The earlier zip and patch files were deleted.
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`tools/check-pi-platform.sh` duplicates `host/check-pi-platform.sh` and can probably go.
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## Security review notes (parked until the USB link is up)
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An automated review of the initial commit flagged three items. All stem from the code predating
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the USB-gadget design (HANDOFF.md package 0b); none is exposed until the Pi runs.
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- `pi/robot_mcp_server.py`: plain HTTP, `ROBOT_MCP_BIND` defaults to `0.0.0.0`. Plan: default to
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`10.55.0.2`, start after `usb0`.
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- `pi/pipewire/50-network-server.conf`: TCP 4713 on all interfaces, unrestricted. Plan: keep,
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comment that the firewall is the protection.
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- `pi/nftables-robot.nft`: still the Pi Zero version (single host IP, any interface). Package 0b
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rewrites it to accept only on the USB interface from `10.55.0.1`.
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- `pi/install.sh` permissions looked fine (`/etc/robot-mcp.env` is `root:$USER`, 640).
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The owner wants to confirm the real IPs on the link before changing any of this. If the USB
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link doesn't work, revisit: TLS or a Tailscale-only bind for MCP and audio.
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