Add switch_mode_and_restart command to CommandManager for manufacturing

components/CameraManager/CameraManager/CameraManager.cpp

@@ -113,14 +113,14 @@ void CameraManager::setupCameraSensor()
                                    0);              // 0 = disable , 1 = enable
   camera_sensor->set_aec2(camera_sensor, 0);        // 0 = disable , 1 = enable
   camera_sensor->set_ae_level(camera_sensor, 0);    // -2 to 2
-  camera_sensor->set_aec_value(camera_sensor, 300); // 0 to 1200
+  camera_sensor->set_aec_value(camera_sensor, 600); // 0 to 1200
 
   // controls the gain
   camera_sensor->set_gain_ctrl(camera_sensor, 0); // 0 = disable , 1 = enable
 
   // automatic gain control gain, controls by how much the resulting image
   // should be amplified
-  camera_sensor->set_agc_gain(camera_sensor, 2);                                // 0 to 30
+  camera_sensor->set_agc_gain(camera_sensor, 0);                                // 0 to 30
   camera_sensor->set_gainceiling(camera_sensor, static_cast<gainceiling_t>(6)); // 0 to 6
 
   // black and white pixel correction, averages the white and black spots
@@ -132,7 +132,7 @@ void CameraManager::setupCameraSensor()
   // gamma correction
   camera_sensor->set_raw_gma(
       camera_sensor,
-      1); // 0 = disable , 1 = enable (makes much lighter and noisy)
+      0); // 0 = disable , 1 = enable (makes much lighter and noisy)
 
   camera_sensor->set_lenc(camera_sensor, 0); // 0 = disable , 1 = enable // 0 =
                                              // disable , 1 = enable

components/CommandManager/CommandManager/CommandManager.cpp

@@ -21,6 +21,7 @@ std::unordered_map<std::string, CommandType> commandTypeMap = {
     {"get_wifi_status", CommandType::GET_WIFI_STATUS},
     {"connect_wifi", CommandType::CONNECT_WIFI},
     {"switch_mode", CommandType::SWITCH_MODE},
+    {"switch_mode_and_restart", CommandType::SWITCH_MODE_AND_RESTART},
     {"get_device_mode", CommandType::GET_DEVICE_MODE},
     {"set_led_duty_cycle", CommandType::SET_LED_DUTY_CYCLE},
     {"get_led_duty_cycle", CommandType::GET_LED_DUTY_CYCLE},
@@ -87,6 +88,9 @@ std::function<CommandResult()> CommandManager::createCommand(const CommandType t
   case CommandType::SWITCH_MODE:
     return [this, json]
     { return switchModeCommand(this->registry, json); };
+  case CommandType::SWITCH_MODE_AND_RESTART:
+    return [this, json]
+    { return switchModeAndRestartCommand(this->registry, json); };
   case CommandType::GET_DEVICE_MODE:
     return [this]
     { return getDeviceModeCommand(this->registry); };

components/CommandManager/CommandManager/CommandManager.hpp

@@ -42,6 +42,7 @@ enum class CommandType
   GET_WIFI_STATUS,
   CONNECT_WIFI,
   SWITCH_MODE,
+  SWITCH_MODE_AND_RESTART,
   GET_DEVICE_MODE,
   SET_LED_DUTY_CYCLE,
   GET_LED_DUTY_CYCLE,

components/CommandManager/CommandManager/commands/device_commands.cpp

@@ -101,20 +101,10 @@ CommandResult getLEDDutyCycleCommand(std::shared_ptr<DependencyRegistry> registr
 
 CommandResult startStreamingCommand()
 {
-    // since we're trying to kill the serial handler
-    // from *inside* the serial handler, we'd deadlock.
-    // we can just pass nullptr to the vtaskdelete(),
-    // but then we won't get any response, so we schedule a timer instead
-    esp_timer_create_args_t args{
-        .callback = activateStreaming,
-        .arg = nullptr,
-        .name = "activateStreaming"};
-
-    esp_timer_handle_t activateStreamingTimer;
-    esp_timer_create(&args, &activateStreamingTimer);
-    esp_timer_start_once(activateStreamingTimer, pdMS_TO_TICKS(150));
-    // streamServer.startStreamServer();
-    return CommandResult::getSuccessResult("Streaming starting");
+    // Start the stream server directly without going through mode-based logic
+    // This allows starting streaming in SETUP mode without changing modes
+    startStreamServerOnly();
+    return CommandResult::getSuccessResult("Streaming started");
 }
 
 CommandResult switchModeCommand(std::shared_ptr<DependencyRegistry> registry, const nlohmann::json &json)
@@ -154,6 +144,51 @@ CommandResult switchModeCommand(std::shared_ptr<DependencyRegistry> registry, co
     return CommandResult::getSuccessResult("Device mode switched, restart to apply");
 }
 
+CommandResult switchModeAndRestartCommand(std::shared_ptr<DependencyRegistry> registry, const nlohmann::json &json)
+{
+    if (!json.contains("mode") || !json["mode"].is_string())
+    {
+        return CommandResult::getErrorResult("Invalid payload - missing mode");
+    }
+
+    auto modeStr = json["mode"].get<std::string>();
+    StreamingMode newMode;
+
+    ESP_LOGI("[DEVICE_COMMANDS]", "Switch mode and restart command received with mode: %s", modeStr.c_str());
+
+    if (modeStr == "uvc")
+    {
+        newMode = StreamingMode::UVC;
+    }
+    else if (modeStr == "wifi")
+    {
+        newMode = StreamingMode::WIFI;
+    }
+    else if (modeStr == "setup" || modeStr == "auto")
+    {
+        newMode = StreamingMode::SETUP;
+    }
+    else
+    {
+        return CommandResult::getErrorResult("Invalid mode - use 'uvc', 'wifi', or 'auto'");
+    }
+
+    const auto projectConfig = registry->resolve<ProjectConfig>(DependencyType::project_config);
+    StreamingMode currentMode = projectConfig->getDeviceMode();
+
+    if (currentMode == newMode)
+    {
+        ESP_LOGI("[DEVICE_COMMANDS]", "Device already in mode: %d, no restart needed", (int)currentMode);
+        return CommandResult::getSuccessResult("Device already in requested mode");
+    }
+
+    ESP_LOGI("[DEVICE_COMMANDS]", "Setting device mode to: %d and scheduling restart", (int)newMode);
+    projectConfig->setDeviceMode(newMode);
+
+    OpenIrisTasks::ScheduleRestart(2000);
+    return CommandResult::getSuccessResult("Device mode switched, restarting...");
+}
+
 CommandResult getDeviceModeCommand(std::shared_ptr<DependencyRegistry> registry)
 {
     const auto projectConfig = registry->resolve<ProjectConfig>(DependencyType::project_config);

components/CommandManager/CommandManager/commands/device_commands.hpp

@@ -19,6 +19,7 @@ CommandResult restartDeviceCommand();
 CommandResult startStreamingCommand();
 
 CommandResult switchModeCommand(std::shared_ptr<DependencyRegistry> registry, const nlohmann::json &json);
+CommandResult switchModeAndRestartCommand(std::shared_ptr<DependencyRegistry> registry, const nlohmann::json &json);
 
 CommandResult getDeviceModeCommand(std::shared_ptr<DependencyRegistry> registry);
 

components/Helpers/Helpers/main_globals.cpp

@@ -3,6 +3,8 @@
 
 // used to force starting the stream setup process via commands
 extern void force_activate_streaming();
+// used to start just the stream server without mode changes
+extern void force_start_stream_server();
 
 static bool s_startupCommandReceived = false;
 bool getStartupCommandReceived()
@@ -33,6 +35,12 @@ void activateStreaming(void *arg)
     force_activate_streaming();
 }
 
+// Function to start just the stream server
+void startStreamServerOnly()
+{
+    force_start_stream_server();
+}
+
 // USB handover state
 static bool s_usbHandoverDone = false;
 bool getUsbHandoverDone() { return s_usbHandoverDone; }

components/Helpers/Helpers/main_globals.hpp

@@ -11,6 +11,9 @@
 // so that the serial manager has time to return the response
 void activateStreaming(void *arg);
 
+// Starts only the stream server (used by startStreamingCommand in SETUP mode)
+void startStreamServerOnly();
+
 bool getStartupCommandReceived();
 void setStartupCommandReceived(bool startupCommandReceived);
 

dependencies.lock

@@ -53,7 +53,7 @@ dependencies:
   idf:
     source:
       type: idf
-    version: 5.4.2
+    version: 5.5.1
 direct_dependencies:
 - espressif/cmake_utilities
 - espressif/esp32-camera

main/openiris_main.cpp

@@ -167,6 +167,17 @@ void force_activate_streaming()
     launch_streaming();
 }
 
+// Start just the stream server directly (for SETUP mode startStreamingCommand)
+void force_start_stream_server()
+{
+#ifdef CONFIG_GENERAL_ENABLE_WIRELESS
+    ESP_LOGI("[MAIN]", "Starting stream server directly via command.");
+    streamServer.startStreamServer();
+#else
+    ESP_LOGW("[MAIN]", "Wireless is disabled; cannot start stream server.");
+#endif
+}
+
 void startWiredMode(bool shouldCloseSerialManager)
 {
 #ifndef CONFIG_GENERAL_INCLUDE_UVC_MODE
@@ -222,7 +233,8 @@ void startWiFiMode()
     mdnsManager.start();
     restAPI->begin();
     StreamingMode mode = deviceConfig->getDeviceMode();
-    // don't enable in SETUP mode
+    // Only auto-start stream server in WIFI mode, not SETUP mode
+    // In SETUP mode, use startStreamingCommand to manually start streaming
     if (mode == StreamingMode::WIFI)
     {
         streamServer.startStreamServer();