feat(hosted-teleop): auto-select operator cockpit from robot kind#3120
Open
ruthwikdasyam wants to merge 5 commits into
Open
feat(hosted-teleop): auto-select operator cockpit from robot kind#3120ruthwikdasyam wants to merge 5 commits into
ruthwikdasyam wants to merge 5 commits into
Conversation
Command modules declare ROBOT_TYPE and push it to the broker provider at init (set_robot_type); the session-create POST carries it so the operator dashboard opens the right cockpit. No core coordination changes.
ruthwikdasyam
force-pushed
the
ruthwik/hosted/fix/robot_type
branch
from
July 21, 2026 20:53
5292eb7 to
032e679
Compare
Codecov Report✅ All modified and coverable lines are covered by tests. @@ Coverage Diff @@
## main #3120 +/- ##
==========================================
+ Coverage 73.23% 73.32% +0.09%
==========================================
Files 1037 1037
Lines 93895 94281 +386
Branches 8528 8638 +110
==========================================
+ Hits 68761 69132 +371
- Misses 22792 22800 +8
- Partials 2342 2349 +7
Flags with carried forward coverage won't be shown. Click here to find out more.
... and 8 files with indirect coverage changes 🚀 New features to boost your workflow:
|
ruthwikdasyam
changed the title
ruthwikdasyam
added
the
backport:skip
ruthwikdasyam
marked this pull request as ready for review
July 21, 2026 21:40
ruthwikdasyam
requested review from
leshy,
mustafab0,
paul-nechifor and
spomichter
as code owners
July 21, 2026 21:40
ruthwikdasyam
marked this pull request as draft
July 21, 2026 21:40
github-actions
Bot
added
ready-to-merge
Contributor
Greptile SummaryThis PR adds broker-configured cockpit selection for hosted teleoperation. The main changes are:
Confidence Score: 5/5No additional blocking issue was found in this review.
Important Files Changed
Reviews (3): Last reviewed commit: "hosted teleop: robot_type as a BrokerCon..." | Re-trigger Greptile |
![greptile-apps[bot]](https://avatars.githubusercontent.com/in/867647?s=60&v=4){kind=small}
ruthwikdasyam
marked this pull request as ready for review
July 21, 2026 23:35
| def test_init_declares_robot_type_to_broker(module: ArmCommandModule) -> None: | ||
| """__init__ pushes ROBOT_TYPE to the shared broker provider, which sends it | ||
| in the session-create POST so the operator dashboard opens the arm cockpit.""" | ||
| from dimos.protocol.pubsub.impl.webrtc.providers.broker import BrokerProvider |
| @classmethod | ||
| def set_robot_type(cls, robot_type: str) -> None: | ||
| """Declare the robot kind sent to the broker at session create, so the | ||
| operator UI auto-selects the cockpit. Called by the hosted command module |
Contributor
There was a problem hiding this comment.
Wait, you're calling it the cockpit too? I picked that name we don't confuse the two systems 😅 (hence why I renamed the broker to "relay")
|
|
||
| def __init__(self, **kwargs: Any) -> None: | ||
| super().__init__(**kwargs) | ||
| BrokerProvider.set_robot_type(self.ROBOT_TYPE) |
Contributor
There was a problem hiding this comment.
Hm, I don't like how initializing this class modifies a global in BrokerProvider.
| # Robot kind for the create-session POST, declared by the command module at | ||
| # init (one session + one kind per process). No default: _require_robot_type | ||
| # raises rather than guess. | ||
| _robot_type: ClassVar[str | None] = None |
Contributor
There was a problem hiding this comment.
I don't like using class variables since they're essentially namespaced globals. They might be justifiable in normal Python, but with the way we use processes for Python modules it will probably lead to issues.
github-actions
Bot
added
the
ready-to-merge
github-actions
Bot
added
ready-to-merge
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Contribution path
Problem
The hosted operator UI required a manual Go2/Arm toggle before connecting - nothing on the robot side told the broker which cockpit to open, so an operator could connect an arm and land on the Go2 view.
Solution
Each hosted command module declares its cockpit kind and pushes it to the broker at init
robot_type.py - a
StrEnumof cockpit kinds (go2,arm); the value is the wire string. Kept in the app layer, not the transport (BrokerConfigstays a plainstr), so the generic provider doesn't depend on this enum.CommandModule declare
ROBOT_TYPEand callBrokerProvider.set_robot_type()at init.the session POST sends the declared kind; no silent default (raises if undeclared), and re-declaring a conflicting kind raises (two command modules in one process would open the wrong cockpit).
How to Test
Connect from the operator dashboard — the arm cockpit opens without the manual toggle. (
teleop-hosted-xarm7opens the arm cockpit the same way.)AI assistance
Claude Code (Fable 5 / Opus 4.8) - used for research, refactoring, review
Checklist