185 Raspios: upgrade base image to Debian 13 (Trixie) and Python 3.13 #186
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If the Socket.IO namespace connection is refused, the server must raise a ConnectionRefusedError for the socketio library, not from stdlib. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
…obot Adding the robot to the Monitor requires that Planner and Detector are connected to know if they are virtual or not. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
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Dec 15, 2025
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Few things.
And please remove markdown from at least one commit message (raspios: migration to Trixie and overhaul systemd orchestration )
raspios/overlay-rootfs/etc/systemd/system/userconfig.service.d/override.conf
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raspios/overlay-rootfs-beacon/etc/systemd/system/cogip-beaconcam.service
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Migrate the Raspberry Pi OS base image from Bookworm to Trixie (Debian 13).
This migration required a major overhaul of the system configuration,
Debian packages, and systemd service orchestration to fix new dependencies
and optimize the boot process.
- Updated obsolete `apt` package names:
- `chromium-browser` -> `chromium`
- `libegl1-mesa`/`libgles2-mesa` -> `libegl1`/`libgles2`
- Removed obsolete `apt` packages (`cpufreqd`, `cpufrequtils`).
- Updated `sysctl` configuration (ip_forward) to use the `/etc/sysctl.d/`
directory instead of `/etc/sysctl.conf`.
- userconfig: Neutralized the `userconfig` service (first-boot wizard)
which was blocking network startup. A systemd override
(`/etc/systemd/system/userconfig.service.d/override.conf`) now forces
the service to execute `/bin/true`.
- rfkill: Masked the `systemd-rfkill.socket` and `.service`
to prevent the Wi-Fi from being blocked on boot.
- cloud-init: Completely disabled all `cloud-init` services
to massively reduce boot time.
- weston:
- Migrated Weston launch from the `.bash_profile` autologin to a
dedicated systemd service (`weston.service`).
- Changed the default boot target from `multi-user.target`
to `graphical.target`.
- Fixed the `XDG_RUNTIME_DIR` not set error by using
the `RuntimeDirectory=` and `Environment=` directives in the service.
- Removed file-based logging (`--log`) in favor of the systemd
journal (capturing stdout/stderr).
- Build Order: Fixed a major bug where services (e.g., `ModemManager`,
`avahi`) were being re-enabled by `cogip-*` dependencies.
The `disable`/`mask` commands are now executed last in the Dockerfile's
`robot` and `beacon` stages.
- Network (systemd-networkd):
- Fixed `wlan0` being stuck in the "configuring" state by keeping
the `wpa_supplicant@wlan0.service` but adding `LinkLocalAddressing=no`
to the `.network` file.
- Enabled `systemd-networkd-wait-online.service@wlan0` to synchronize
`cogip-*` service startup with the Wi-Fi connection.
- Service Notification (`Type=notify`):
- Modified `cogip-server` and `cogip-dashboard` to use `Type=notify`
to ensure dependencies start in the correct order.
- Added `systemd.daemon.notify("READY=1")` to the Python application
code (via `lifespan`/`on_startup`).
- Changed `ExecStart=` to call `/opt/.venv/bin/python -m ...` directly,
bypassing a `uv run` bug that was not passing the `$NOTIFY_SOCKET`
variable.
- Service Dependencies (Lidar):
- Made `cogip-detector` (Lidar) an optional dependency for
`cogip-robotcam` by using `Wants=` instead of `Requires=`.
- Added a `check-lidar.py` script (via `ExecStartPre=`) that actively
probes the Lidar (YDLidar G2, `0xA5 0x92` command) to prevent the
service from starting if the Lidar is absent (Robot 1 only).
Breaking change: the base image is now Trixie. The former autologin
mechanism is replaced by `graphical.target` and the `weston.service`.
Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
v4l2py has been deprecated in favor of linuxpy. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Add support for Raspberry Pi cameras using picamera2. Replace SharedMemory with multiprocessing.Queue for frame transfer. Use two different streams for processing (high res, gray) and web streaming (low res, colour). Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Monitor is developed using Qt3D which not officially maintained anymore. Last compatible version of PySide6 does not support Python 3.13, so Monitor needs to be modernized by being completely rewritten using QtQuick and QtQuick3D. This commit removes old Monitor. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Add new Monitor developed using PySide6 and QtQuick/QtQuick3D. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Upgrade all mkdocs related packages to latest version. Fix remaining warnings. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Nanobind version was not pinned in build-system section. Version 2.10 has introduced a regression, so pin the version to the previous one. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Fix issue with mixed root/user permissions.
Summary of new/working state:
- source directory is copied in the Dockerfile with root permissions
to allow synchronisation using watch feature of docker compose.
- each robot service has its own build dir (/src/build/${ROBOT_ID}) to
prevent override to parallel startup.
- "uv sync" command is executed with root permission because it creates
bindings (__init__.pyi) in the source directory.
- "uv run" commands are executed with user permissions because tools are
using shared memory files in "/dev/shm" mounted from the host.
- to avoid permission denied errors due to recompilation, "uv run" is
launched with "--no-sync" option.
- "/src/.venv" bound to venv_cache volume so monitor service can reuse
the venv created by robot service.
Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
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Context & Motivation: We currently face a version mismatch preventing the use of Raspberry Pi cameras:
Goal: To resolve this, we must align the cogip-tools Python version with the OS version. We will upgrade the base image to Debian 13 (Trixie), which provides Python 3.13.
Required Changes & Impact