<p align="center">
  <a href="https://cyberwave.com">
    <img src="https://cyberwave.com/cyberwave-logo-black.svg" alt="Cyberwave logo" width="240" />
  </a>
</p>

# Cyberwave Edge Core

This module is part of **Cyberwave: Making the physical world programmable**.

Cyberwave Edge Core acts as the orchestrator of Cyberwave edge drivers.

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## Quickstart

SSH to the edge device where you want to install Edge Core, then install the Cyberwave CLI and run the installer:

```bash
# Install the Cyberwave CLI (one-time setup)
curl -fsSL https://cyberwave.com/install.sh | bash

# Run the edge installer (interactive)
sudo cyberwave edge install
```

The installer will prompt you to log in with your Cyberwave account, select a workspace and environment, and persist configuration under `/etc/cyberwave/` (on Linux) or `~/.cyberwave/` (on macOS). You can override the config directory via the `CYBERWAVE_EDGE_CONFIG_DIR` environment variable.

> Don't have a Cyberwave account? Get one at [cyberwave.com](https://cyberwave.com)

### Config files created

The installer and Edge Core create these files in the config directory:

| File               | Description                                 |
| ------------------ | ------------------------------------------- |
| `credentials.json` | API token and workspace information         |
| `fingerprint.json` | Device fingerprint (generated by Edge Core) |
| `environment.json` | Selected environment and twin UUIDs         |

Edge Core requires `credentials.json` to operate. `fingerprint.json` is produced by Edge Core; `environment.json` is written by the CLI during setup.

## How Edge Core works

On startup (service or direct run), Edge Core performs the following steps:

1. Validate credentials from `credentials.json`.
2. Connect to the backend MQTT broker and verify connectivity.
3. Register the edge device and record a unique `edge_fingerprint`.
4. Download the selected environment and resolve twins linked to the fingerprint.
5. Start drivers for linked twins. Special handling for attached camera child twins:
   - If a twin is a camera child (has `attach_to_twin_uuid`), Edge Core does not start a separate driver for it.
   - Camera child UUIDs are passed to the parent driver via `CYBERWAVE_CHILD_TWIN_UUIDS`.

During driver startup, Docker image pull progress is mirrored into the edge-core service logs and forwarded through the same MQTT-backed driver log stream used for runtime container logs, so users can follow image download progress remotely.

### Remote restart (Edge REST API)

Request a remote restart of Edge Core via the REST API:

```http
POST /api/v1/edges/{uuid}/restart-core
```

The API will publish an MQTT message to the edge's command topic:

Topic: `edges/{edge_uuid}/command`

Example payload:

```json
{ "command": "restart_edge_core" }
```

When Edge Core receives this command it performs a graceful restart consisting of:

1. Removing cached twin JSON files from the edge config directory.
2. Stopping and removing any edge-managed driver containers, then pruning stopped containers.
3. Re-downloading the selected environment and restarting drivers.

The restart is intended to preserve durable state where possible. If connectivity is available before shutdown, Edge Core will attempt to sync any twin JSON changes back to the backend.

## Writing compatible drivers

A Cyberwave driver is a Docker image that interacts with device hardware and the Cyberwave backend. When Edge Core starts a driver container it sets the following environment variables (provided to the container):

- `CYBERWAVE_TWIN_UUID`
- `CYBERWAVE_API_KEY`
- `CYBERWAVE_TWIN_JSON_FILE` (writable file path)
- `CYBERWAVE_CHILD_TWIN_UUIDS` (optional, comma-separated)

`CYBERWAVE_CHILD_TWIN_UUIDS` is present when child camera twins are attached to the driver twin; drivers can use this to coordinate cameras without additional prompts.

### Driver failure handling

Drivers must exit with a **non-zero** code when they cannot access required hardware (for example, missing `/dev/video*` or disconnected peripherals). This allows Edge Core to detect startup failures and trigger restart logic.

Edge Core alerts and behavior:

- `driver_start_failure`: raised if a driver container cannot reach a stable running state.
- `driver_restart_loop`: raised when a driver restarts more than the configured threshold (default 4 restarts within 60 seconds). The container is stopped and marked as flapping.

Optional environment variables to tune restart behavior:

- `CYBERWAVE_DRIVER_RESTART_LOOP_THRESHOLD` (default: `4`)
- `CYBERWAVE_DRIVER_RESTART_LOOP_WINDOW_SECONDS` (default: `60`)
- `CYBERWAVE_DRIVER_TROUBLESHOOTING_URL` (default: `https://docs.cyberwave.com`)

### Twin JSON file

`CYBERWAVE_TWIN_JSON_FILE` is an absolute path to a JSON file provided to the driver. The file contains the digital twin instance object (including its `metadata`) and the associated catalog twin data, matching the API schema: TwinSchema and AssetSchema.

Drivers may modify this file; Edge Core will sync changes back to the backend when connectivity is available.

### Twin metadata

Use the official Cyberwave SDK to interact with the API and MQTT; it abstracts authentication, retries, and handshake logic.

Register a driver by adding its configuration to a twin's metadata (or the catalog twin's metadata if you control the catalog twin). Use the environment view's **Advanced editing** to edit metadata.

Note: changing a catalog twin's metadata affects all subsequently created digital twins derived from that catalog twin.

Example driver metadata (JSON):

```json
{
  "drivers": {
    "default": {
      "docker_image": "cyberwaveos/so101-driver",
      "version": "0.0.1",
      "params": [
        "--network",
        "local",
        "--add-host",
        "host.docker.internal:host-gateway"
      ]
    }
  }
}
```

### Platform-specific driver selection

Edge Core can select platform-specific driver entries before falling back to
`default`.

Selection order:

1. Child-registry-specific entry (existing behavior)
2. Host platform/machine keys (for example `darwin-arm64`, `darwin`, `macos`, `mac`)
3. `default`

Example:

```json
{
  "drivers": {
    "default": {
      "docker_image": "cyberwaveos/so101-driver"
    },
    "darwin-arm64": {
      "docker_image": "cyberwaveos/so101-driver:macos",
      "params": ["-e", "CYBERWAVE_SERIAL_BRIDGE_URL=tcp://host.docker.internal:22001"]
    }
  }
}
```

### macOS host-device bridge hook

On macOS, Linux `--device` mappings in `params` cannot directly expose host
hardware to Linux containers. Edge Core now supports a pre-run native bridge
hook:

- Set `CYBERWAVE_MACOS_DEVICE_BRIDGE_COMMAND` on the host
- Edge Core executes it once per `--device` mapping before `docker run`
- Template variables available:
  - `{host_device}`
  - `{container_device}`
  - `{twin_uuid}`
  - `{container_name}`
  - `{config_dir}`

Example:

```bash
export CYBERWAVE_MACOS_DEVICE_BRIDGE_COMMAND="cyberwave-edge-hw-bridge --device {host_device} --target {container_device} --twin {twin_uuid}"
```

The command can start native camera/serial forwarding services that expose
bridge endpoints to the container (typically via `host.docker.internal`).

Bridge command stdout can optionally return a resolved source for the mapped
device:

- JSON: `{"resolved_device":"rtsp://host.docker.internal:8554/cam0"}`
- or line format: `resolved_device=rtsp://host.docker.internal:8554/cam0`

When this value differs from `/dev/video*`, Edge Core can transparently:

- inject `CYBERWAVE_METADATA_VIDEO_DEVICE` for the driver
- inject `CYBERWAVE_EDGE_VIDEO_DEVICE_MAP` (JSON map of Linux device to resolved source)
- remove Linux-only `--device /dev/video*` flags before `docker run` on macOS
  (default enabled with `CYBERWAVE_MACOS_STRIP_VIDEO_DEVICE_PARAMS=true`)

This lets Linux-style drivers keep their normal auto-setup logic while receiving
a macOS-compatible video source without driver code changes.

For camera twins, Edge Core can also provide default bridge candidates on macOS
even when metadata has no explicit `--device` params (default driver config),
so Linux-oriented camera drivers remain compatible with minimal metadata.

To inject environment variables into a driver container, list `-e` flags inside `params`: each `-e` must be a separate element followed by its `KEY=value` string. Example:

```json
{
  "drivers": {
    "default": {
      "docker_image": "cyberwaveos/go2-native-driver",
      "params": ["-e", "MY_VAR=value", "-e", "ANOTHER_VAR=value2"]
    }
  }
}
```

Each `-e` must be its own element in the array, followed by the `KEY=value` string as the next element. This is equivalent to passing `-e MY_VAR=value` on the `docker run` command line.

This is useful for driver-specific configuration that varies per device, such as IP addresses, credentials, or feature flags that cannot be stored in the twin's `edge_configs` metadata.

### Runtime configuration for drivers (`metadata["edge_configs"]`)

Drivers and edge services should treat `metadata["edge_configs"]` as the source of truth for per-device runtime configuration.
Edge identity should be stored at `metadata["edge_fingerprint"]` (not duplicated inside `edge_configs`).

> **Runtime access**: The core passes the full twin JSON (including `metadata`) to every driver via the `CYBERWAVE_TWIN_JSON_FILE` environment variable. Drivers can read `edge_configs` from that file at startup to obtain per-device settings — for example, selecting the right camera source or IP address for the current machine. This is the recommended way to pass device-specific configuration to a driver without hardcoding values in the image.

- Type: object/dictionary
- Value: binding object (`object`)

Canonical shape:

```json
{
  "edge_fingerprint": "macbook-pro-a1b2c3d4e5f6",
  "edge_configs": {
    "camera_config": {
      "camera_id": "front",
      "source": "rtsp://user:pass@192.168.1.20/stream",
      "fps": 10,
      "resolution": "VGA",
      "camera_type": "cv2"
    }
  }
}
```

Field notes:

- `edge_fingerprint`: fingerprint of the edge serving this twin (recommended).
- `camera_config`: per-device camera/runtime config consumed by drivers.

Avoid storing transient runtime state such as `edge_uuid`, `registered_at`, `last_sync`, `last_ip_address`, or `status_data` inside `edge_configs`.

Backward compatibility:

- Older records may use a legacy map shape (`edge_configs[fingerprint] = {...}`).
- Older records may store camera settings in `cameras[0]` or as top-level fields.
- New writers should prefer `camera_config` under `edge_configs`.
- Do not rely on `PUT /api/v1/edges/{uuid}/twins/{twin_uuid}/camera-config`; it is deprecated. Update twin metadata instead.

## Advanced usage

### Manual install and troubleshooting

```bash
# Install the Buildkite package signing key
curl -fsSL "https://packages.buildkite.com/cyberwave/cyberwave-edge-core/gpgkey" | gpg --dearmor -o /etc/apt/keyrings/cyberwave_cyberwave-edge-core-archive-keyring.gpg

# Configure the Apt source
echo -e "deb [signed-by=/etc/apt/keyrings/cyberwave_cyberwave-edge-core-archive-keyring.gpg] https://packages.buildkite.com/cyberwave/cyberwave-edge-core/any/ any main\ndeb-src [signed-by=/etc/apt/keyrings/cyberwave_cyberwave-edge-core-archive-keyring.gpg] https://packages.buildkite.com/cyberwave/cyberwave-edge-core/any/ any main" \
  > /etc/apt/sources.list.d/buildkite-cyberwave-cyberwave-edge-core.list

# Run Edge Core (performs startup checks and starts drivers)
cyberwave-edge-core

# Show status, credentials and MQTT connectivity (read-only)
cyberwave-edge-core status

# Show version
cyberwave-edge-core --version
```

Preview builds from `dev` / `staging` CI are published as **separate Debian packages** in the same apt repo: `cyberwave-edge-core-dev` and `cyberwave-edge-core-staging`. `apt install cyberwave-edge-core` only pulls tagged releases; use one of the channel packages explicitly when you want those binaries (the packages conflict because they ship the same `/usr/bin/cyberwave-edge-core`).

### Environment variables

Run against a different environment/base URL:

```bash
export CYBERWAVE_ENVIRONMENT="yourenv"
export CYBERWAVE_BASE_URL="https://yourbaseurl"
cyberwave-edge-core
```

Control log verbosity (default: `INFO`):

```bash
export CYBERWAVE_EDGE_LOG_LEVEL="DEBUG"
cyberwave-edge-core
```

Or pass env vars to the CLI installer:

```bash
sudo CYBERWAVE_ENVIRONMENT="yourenv" CYBERWAVE_BASE_URL="https://yourbaseurl" CYBERWAVE_MQTT_HOST="yourmqtt" cyberwave edge install
```

## Local development (from this folder)

You can develop both the **Cyberwave CLI** and **Edge Core** from the `cyberwave-edge-core` directory using a single virtual environment that has the monorepo SDK, CLI, and edge-core installed in editable mode.

### One-time setup

From `cyberwave-edge-core/`:

```bash
# Create and activate a venv (e.g. .venv in this folder)
python3 -m venv .venv
source .venv/bin/activate   # Windows: .venv\Scripts\activate

# Install SDK, CLI, and Edge Core in editable mode (order matters: SDK first)
pip install -e ../cyberwave-sdks/cyberwave-python
pip install -e ../cyberwave-clis/cyberwave-python-cli/"[build]"
pip install -e ".[build]"
```

**Generate the SDK REST client (required for editable SDK).** The SDK’s `cyberwave.rest` package is generated from the backend OpenAPI spec and is not committed. If you see `ImportError: cannot import name 'DefaultApi' from 'cyberwave.rest'`:

1. Start the backend: `cd ../cyberwave-backend && docker compose -f local.yml up -d` (wait until healthy).
2. From the repo root, generate the REST client:
   ```bash
   cd cyberwave-sdks && ./python-sdk-gen.sh sdk --host localhost:8000
   ```
3. Re-run the `pip install -e` steps above if you already installed; the editable SDK will then include the generated `cyberwave/rest` code.

### Run CLI and Edge Core

After activating the venv, both commands are on your PATH:

```bash
# CLI
cyberwave --help
cyberwave login --email boss@cyberwave.com --password iamnottheboss
cyberwave edge install --help

# Edge Core
cyberwave-edge-core --help
cyberwave-edge-core status
cyberwave-edge-core
```

**Target backend:** If you do not set `CYBERWAVE_BASE_URL`, the CLI and Edge Core use the default **production** API (`https://api.cyberwave.com`). To use your local backend instead:

```bash
export CYBERWAVE_BASE_URL=http://localhost:8000
export CYBERWAVE_MQTT_HOST=localhost
export CYBERWAVE_ENVIRONMENT=local
```

### Paths from this folder

| What       | Path (from `cyberwave-edge-core/`)         |
| ---------- | ------------------------------------------ |
| Repo root  | `..`                                       |
| Python SDK | `../cyberwave-sdks/cyberwave-python`       |
| CLI        | `../cyberwave-clis/cyberwave-python-cli`   |

Edit code in any of those directories; the editable installs pick up changes (no reinstall needed for Python changes).

## Contributing

Contributions are welcome. Please open an issue to discuss bugs or feature requests, and submit a pull request when you are ready.

## Community and Documentation

- Documentation: https://docs.cyberwave.com
- Community (Discord): https://discord.gg/dfGhNrawyF
- Issues: https://github.com/cyberwave-os/cyberwave-edge-core/issues
