From ac3fdfb37e3d9277c0b1823d046cc237f7e62284 Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 12:20:56 +0200
Subject: [PATCH 01/10] feat: add end-to-end relay test for main Pi watchdog

---
 watchdog/main_pi/test_relays.py | 147 ++++++++++++++++++++++++++++++++
 1 file changed, 147 insertions(+)
 create mode 100644 watchdog/main_pi/test_relays.py

diff --git a/watchdog/main_pi/test_relays.py b/watchdog/main_pi/test_relays.py
new file mode 100644
index 00000000..d487dc2c
--- /dev/null
+++ b/watchdog/main_pi/test_relays.py
@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+"""
+End-to-end relay test for the main Pi watchdog setup.
+
+For each relay, this script:
+  1) pings the controlled device to confirm it is reachable,
+  2) drives the GPIO LOW for POWER_OFF_TIME seconds (cut power),
+  3) verifies the device drops during the cut,
+  4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
+
+Run on the main Pi:
+  python3 /home/pi/pyro-engine/watchdog/main_pi/test_relays.py
+
+Exits non-zero if any relay fails the verification.
+"""
+
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+import RPi.GPIO as GPIO
+
+# ================= CONFIG =================
+
+RELAY_PIZERO = 16
+
+_ENV_FILE = Path("/home/pi/watchdog.env")
+
+
+def _load_env(path: Path) -> dict:
+    env: dict = {}
+    try:
+        for line in path.read_text().splitlines():
+            line = line.strip()
+            if not line or line.startswith("#"):
+                continue
+            key, _, value = line.partition("=")
+            env[key.strip()] = value.strip()
+    except FileNotFoundError:
+        pass
+    return env
+
+
+_env = _load_env(_ENV_FILE)
+
+PIZERO_IP: str = _env.get("PIZERO_IP", "192.168.1.98")
+
+PING_COUNT = 1
+PING_TIMEOUT = 2
+POWER_OFF_TIME = 15
+
+DROP_GRACE = 5
+RETURN_TIMEOUT = 90
+RETURN_POLL = 3
+
+
+# ================ HELPERS =================
+
+
+def ping(ip: str) -> bool:
+    try:
+        subprocess.check_output(
+            ["ping", "-c", str(PING_COUNT), "-W", str(PING_TIMEOUT), ip],
+            stderr=subprocess.DEVNULL,
+        )
+        return True
+    except subprocess.CalledProcessError:
+        return False
+
+
+def wait_for_drop(ip: str, deadline_s: int) -> bool:
+    end = time.time() + deadline_s
+    while time.time() < end:
+        if not ping(ip):
+            return True
+        time.sleep(1)
+    return False
+
+
+def wait_for_return(ip: str, deadline_s: int, poll_s: int) -> bool:
+    end = time.time() + deadline_s
+    while time.time() < end:
+        if ping(ip):
+            return True
+        time.sleep(poll_s)
+    return False
+
+
+def test_relay(name: str, gpio_pin: int, target_ip: str) -> bool:
+    print(f"\n=== Testing relay '{name}' on GPIO {gpio_pin} (target {target_ip}) ===", flush=True)
+
+    print(f"[BEFORE] ping {target_ip} ...", flush=True)
+    if not ping(target_ip):
+        print(f"[BEFORE] FAIL: {target_ip} unreachable before cut, aborting test", flush=True)
+        return False
+    print(f"[BEFORE] OK: {target_ip} reachable", flush=True)
+
+    print(f"[CUT] GPIO {gpio_pin} -> LOW for {POWER_OFF_TIME}s", flush=True)
+    GPIO.output(gpio_pin, GPIO.LOW)
+    try:
+        dropped = wait_for_drop(target_ip, deadline_s=DROP_GRACE)
+        if not dropped:
+            print(
+                f"[CUT] FAIL: {target_ip} still reachable after {DROP_GRACE}s -- relay or wiring issue",
+                flush=True,
+            )
+            time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
+            return False
+        print(f"[CUT] OK: {target_ip} dropped", flush=True)
+        time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
+    finally:
+        print(f"[RESTORE] GPIO {gpio_pin} -> HIGH", flush=True)
+        GPIO.output(gpio_pin, GPIO.HIGH)
+
+    print(f"[AFTER] waiting up to {RETURN_TIMEOUT}s for {target_ip} to return ...", flush=True)
+    if not wait_for_return(target_ip, deadline_s=RETURN_TIMEOUT, poll_s=RETURN_POLL):
+        print(f"[AFTER] FAIL: {target_ip} did not come back within {RETURN_TIMEOUT}s", flush=True)
+        return False
+    print(f"[AFTER] OK: {target_ip} reachable again", flush=True)
+    return True
+
+
+# ================== MAIN ==================
+
+
+def main() -> int:
+    GPIO.setmode(GPIO.BCM)
+    GPIO.setwarnings(False)
+    GPIO.setup(RELAY_PIZERO, GPIO.OUT, initial=GPIO.HIGH)
+
+    try:
+        ok = test_relay("pizero", RELAY_PIZERO, PIZERO_IP)
+    finally:
+        GPIO.output(RELAY_PIZERO, GPIO.HIGH)
+        GPIO.cleanup()
+
+    print("", flush=True)
+    if not ok:
+        print("FAILED: pizero", flush=True)
+        return 1
+    print("ALL RELAYS OK", flush=True)
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

From 762c26eb418f66ee59f4a5ee00896a17a549a7fb Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 12:21:30 +0200
Subject: [PATCH 02/10] feat: add end-to-end relay test for Pi Zero watchdog

---
 watchdog/pi_zero/test_relays.py | 187 ++++++++++++++++++++++++++++++++
 1 file changed, 187 insertions(+)
 create mode 100644 watchdog/pi_zero/test_relays.py

diff --git a/watchdog/pi_zero/test_relays.py b/watchdog/pi_zero/test_relays.py
new file mode 100644
index 00000000..d766286f
--- /dev/null
+++ b/watchdog/pi_zero/test_relays.py
@@ -0,0 +1,187 @@
+#!/usr/bin/env python3
+"""
+End-to-end relay test for the Pi Zero watchdog setup.
+
+For each selected relay, this script:
+  1) pings the controlled device to confirm it is reachable,
+  2) drives the GPIO LOW for POWER_OFF_TIME seconds (cut power),
+  3) verifies the device drops during the cut,
+  4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
+
+Run on the Pi Zero:
+  python3 /home/pi/pyro-engine/watchdog/pi_zero/test_relays.py
+  python3 /home/pi/pyro-engine/watchdog/pi_zero/test_relays.py --relay main
+  python3 /home/pi/pyro-engine/watchdog/pi_zero/test_relays.py --relay cams
+
+The cams test pings only the first camera in CAM_IPS as a proxy for the 12V rail.
+Exits non-zero if any relay fails the verification.
+"""
+
+import argparse
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+import RPi.GPIO as GPIO
+
+# ================= CONFIG =================
+
+RELAY_MAIN = 16
+RELAY_CAMS = 26
+
+_ENV_FILE = Path("/home/pi/watchdog.env")
+
+
+def _load_env(path: Path) -> dict:
+    env: dict = {}
+    try:
+        for line in path.read_text().splitlines():
+            line = line.strip()
+            if not line or line.startswith("#"):
+                continue
+            key, _, value = line.partition("=")
+            env[key.strip()] = value.strip()
+    except FileNotFoundError:
+        pass
+    return env
+
+
+_env = _load_env(_ENV_FILE)
+
+MAIN_PI_IP: str = _env.get("MAIN_PI_IP", "192.168.1.99")
+
+_cam_ips_raw = _env.get("CAM_IPS", "")
+CAM_IPS: list[str] = [ip.strip() for ip in _cam_ips_raw.split(",") if ip.strip()] or [
+    "192.168.1.11",
+    "192.168.1.12",
+]
+
+PING_COUNT = 1
+PING_TIMEOUT = 2
+POWER_OFF_TIME = 15
+
+DROP_GRACE = 5
+RETURN_TIMEOUT = 90
+RETURN_POLL = 3
+
+
+# ================ HELPERS =================
+
+
+def ping(ip: str) -> bool:
+    try:
+        subprocess.check_output(
+            ["ping", "-c", str(PING_COUNT), "-W", str(PING_TIMEOUT), ip],
+            stderr=subprocess.DEVNULL,
+        )
+        return True
+    except subprocess.CalledProcessError:
+        return False
+
+
+def wait_for_drop(ip: str, deadline_s: int) -> bool:
+    end = time.time() + deadline_s
+    while time.time() < end:
+        if not ping(ip):
+            return True
+        time.sleep(1)
+    return False
+
+
+def wait_for_return(ip: str, deadline_s: int, poll_s: int) -> bool:
+    end = time.time() + deadline_s
+    while time.time() < end:
+        if ping(ip):
+            return True
+        time.sleep(poll_s)
+    return False
+
+
+def test_relay(name: str, gpio_pin: int, target_ip: str) -> bool:
+    print(f"\n=== Testing relay '{name}' on GPIO {gpio_pin} (target {target_ip}) ===", flush=True)
+
+    print(f"[BEFORE] ping {target_ip} ...", flush=True)
+    if not ping(target_ip):
+        print(f"[BEFORE] FAIL: {target_ip} unreachable before cut, aborting test", flush=True)
+        return False
+    print(f"[BEFORE] OK: {target_ip} reachable", flush=True)
+
+    print(f"[CUT] GPIO {gpio_pin} -> LOW for {POWER_OFF_TIME}s", flush=True)
+    GPIO.output(gpio_pin, GPIO.LOW)
+    try:
+        dropped = wait_for_drop(target_ip, deadline_s=DROP_GRACE)
+        if not dropped:
+            print(
+                f"[CUT] FAIL: {target_ip} still reachable after {DROP_GRACE}s -- relay or wiring issue",
+                flush=True,
+            )
+            time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
+            return False
+        print(f"[CUT] OK: {target_ip} dropped", flush=True)
+        time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
+    finally:
+        print(f"[RESTORE] GPIO {gpio_pin} -> HIGH", flush=True)
+        GPIO.output(gpio_pin, GPIO.HIGH)
+
+    print(f"[AFTER] waiting up to {RETURN_TIMEOUT}s for {target_ip} to return ...", flush=True)
+    if not wait_for_return(target_ip, deadline_s=RETURN_TIMEOUT, poll_s=RETURN_POLL):
+        print(f"[AFTER] FAIL: {target_ip} did not come back within {RETURN_TIMEOUT}s", flush=True)
+        return False
+    print(f"[AFTER] OK: {target_ip} reachable again", flush=True)
+    return True
+
+
+# ================== MAIN ==================
+
+
+def _cams_target_ip() -> str:
+    if not CAM_IPS:
+        raise SystemExit("No camera IPs configured (CAM_IPS); cannot run cams relay test.")
+    return CAM_IPS[0]
+
+
+RELAYS = {
+    "main": (RELAY_MAIN, lambda: MAIN_PI_IP),
+    "cams": (RELAY_CAMS, _cams_target_ip),
+}
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description="End-to-end relay test for Pi Zero")
+    parser.add_argument(
+        "--relay",
+        choices=[*RELAYS.keys(), "all"],
+        default="all",
+        help="Relay to test (default: all)",
+    )
+    args = parser.parse_args()
+
+    GPIO.setmode(GPIO.BCM)
+    GPIO.setwarnings(False)
+    for pin, _ in RELAYS.values():
+        GPIO.setup(pin, GPIO.OUT, initial=GPIO.HIGH)
+
+    selected = list(RELAYS.keys()) if args.relay == "all" else [args.relay]
+
+    failures: list[str] = []
+    try:
+        for name in selected:
+            pin, ip_getter = RELAYS[name]
+            if not test_relay(name, pin, ip_getter()):
+                failures.append(name)
+    finally:
+        for pin, _ in RELAYS.values():
+            GPIO.output(pin, GPIO.HIGH)
+        GPIO.cleanup()
+
+    print("", flush=True)
+    if failures:
+        print(f"FAILED: {', '.join(failures)}", flush=True)
+        return 1
+    print("ALL RELAYS OK", flush=True)
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

From de741758b2892b531357ad03d04f590f57febb07 Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 12:25:40 +0200
Subject: [PATCH 03/10] refactor: rename relay test scripts to relay_check.py

Avoid pytest auto-collection of files matching test_*.py pattern.
---
 watchdog/main_pi/{test_relays.py => relay_check.py} | 0
 watchdog/pi_zero/{test_relays.py => relay_check.py} | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename watchdog/main_pi/{test_relays.py => relay_check.py} (100%)
 rename watchdog/pi_zero/{test_relays.py => relay_check.py} (100%)

diff --git a/watchdog/main_pi/test_relays.py b/watchdog/main_pi/relay_check.py
similarity index 100%
rename from watchdog/main_pi/test_relays.py
rename to watchdog/main_pi/relay_check.py
diff --git a/watchdog/pi_zero/test_relays.py b/watchdog/pi_zero/relay_check.py
similarity index 100%
rename from watchdog/pi_zero/test_relays.py
rename to watchdog/pi_zero/relay_check.py

From f5294df7ed216372ae41a3ba5b73960dda11c3eb Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 12:25:46 +0200
Subject: [PATCH 04/10] fix(relay-check): debounce drop detection and scope
 GPIO setup

- Require two consecutive failed pings before declaring the target dropped to avoid transient packet-loss false positives.
- Detect drop across the full POWER_OFF_TIME window so slow-discharging targets are not falsely flagged.
- Pi Zero: only setup and restore the relays selected via --relay; do not touch unselected pins.
- Drop dead CAM_IPS guard (CAM_IPS always falls back to a default list).
---
 watchdog/main_pi/relay_check.py | 19 ++++++++-------
 watchdog/pi_zero/relay_check.py | 41 ++++++++++++++++-----------------
 2 files changed, 31 insertions(+), 29 deletions(-)

diff --git a/watchdog/main_pi/relay_check.py b/watchdog/main_pi/relay_check.py
index d487dc2c..52bdbd98 100644
--- a/watchdog/main_pi/relay_check.py
+++ b/watchdog/main_pi/relay_check.py
@@ -9,7 +9,7 @@
   4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
 
 Run on the main Pi:
-  python3 /home/pi/pyro-engine/watchdog/main_pi/test_relays.py
+  python3 /home/pi/pyro-engine/watchdog/main_pi/relay_check.py
 
 Exits non-zero if any relay fails the verification.
 """
@@ -50,7 +50,6 @@ def _load_env(path: Path) -> dict:
 PING_TIMEOUT = 2
 POWER_OFF_TIME = 15
 
-DROP_GRACE = 5
 RETURN_TIMEOUT = 90
 RETURN_POLL = 3
 
@@ -70,9 +69,10 @@ def ping(ip: str) -> bool:
 
 
 def wait_for_drop(ip: str, deadline_s: int) -> bool:
+    # require two consecutive failed pings to debounce transient packet loss
     end = time.time() + deadline_s
     while time.time() < end:
-        if not ping(ip):
+        if not ping(ip) and not ping(ip):
             return True
         time.sleep(1)
     return False
@@ -98,17 +98,20 @@ def test_relay(name: str, gpio_pin: int, target_ip: str) -> bool:
 
     print(f"[CUT] GPIO {gpio_pin} -> LOW for {POWER_OFF_TIME}s", flush=True)
     GPIO.output(gpio_pin, GPIO.LOW)
+    cut_start = time.time()
     try:
-        dropped = wait_for_drop(target_ip, deadline_s=DROP_GRACE)
+        dropped = wait_for_drop(target_ip, deadline_s=POWER_OFF_TIME)
         if not dropped:
             print(
-                f"[CUT] FAIL: {target_ip} still reachable after {DROP_GRACE}s -- relay or wiring issue",
+                f"[CUT] FAIL: {target_ip} still reachable after {POWER_OFF_TIME}s -- relay or wiring issue",
                 flush=True,
             )
-            time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
             return False
-        print(f"[CUT] OK: {target_ip} dropped", flush=True)
-        time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
+        print(f"[CUT] OK: {target_ip} dropped after {time.time() - cut_start:.1f}s", flush=True)
+        # hold the cut for the remainder of POWER_OFF_TIME to ensure a real power cycle
+        remaining = POWER_OFF_TIME - (time.time() - cut_start)
+        if remaining > 0:
+            time.sleep(remaining)
     finally:
         print(f"[RESTORE] GPIO {gpio_pin} -> HIGH", flush=True)
         GPIO.output(gpio_pin, GPIO.HIGH)
diff --git a/watchdog/pi_zero/relay_check.py b/watchdog/pi_zero/relay_check.py
index d766286f..050c73ce 100644
--- a/watchdog/pi_zero/relay_check.py
+++ b/watchdog/pi_zero/relay_check.py
@@ -9,9 +9,9 @@
   4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
 
 Run on the Pi Zero:
-  python3 /home/pi/pyro-engine/watchdog/pi_zero/test_relays.py
-  python3 /home/pi/pyro-engine/watchdog/pi_zero/test_relays.py --relay main
-  python3 /home/pi/pyro-engine/watchdog/pi_zero/test_relays.py --relay cams
+  python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py
+  python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py --relay main
+  python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py --relay cams
 
 The cams test pings only the first camera in CAM_IPS as a proxy for the 12V rail.
 Exits non-zero if any relay fails the verification.
@@ -61,7 +61,6 @@ def _load_env(path: Path) -> dict:
 PING_TIMEOUT = 2
 POWER_OFF_TIME = 15
 
-DROP_GRACE = 5
 RETURN_TIMEOUT = 90
 RETURN_POLL = 3
 
@@ -81,9 +80,10 @@ def ping(ip: str) -> bool:
 
 
 def wait_for_drop(ip: str, deadline_s: int) -> bool:
+    # require two consecutive failed pings to debounce transient packet loss
     end = time.time() + deadline_s
     while time.time() < end:
-        if not ping(ip):
+        if not ping(ip) and not ping(ip):
             return True
         time.sleep(1)
     return False
@@ -109,17 +109,20 @@ def test_relay(name: str, gpio_pin: int, target_ip: str) -> bool:
 
     print(f"[CUT] GPIO {gpio_pin} -> LOW for {POWER_OFF_TIME}s", flush=True)
     GPIO.output(gpio_pin, GPIO.LOW)
+    cut_start = time.time()
     try:
-        dropped = wait_for_drop(target_ip, deadline_s=DROP_GRACE)
+        dropped = wait_for_drop(target_ip, deadline_s=POWER_OFF_TIME)
         if not dropped:
             print(
-                f"[CUT] FAIL: {target_ip} still reachable after {DROP_GRACE}s -- relay or wiring issue",
+                f"[CUT] FAIL: {target_ip} still reachable after {POWER_OFF_TIME}s -- relay or wiring issue",
                 flush=True,
             )
-            time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
             return False
-        print(f"[CUT] OK: {target_ip} dropped", flush=True)
-        time.sleep(max(0, POWER_OFF_TIME - DROP_GRACE))
+        print(f"[CUT] OK: {target_ip} dropped after {time.time() - cut_start:.1f}s", flush=True)
+        # hold the cut for the remainder of POWER_OFF_TIME to ensure a real power cycle
+        remaining = POWER_OFF_TIME - (time.time() - cut_start)
+        if remaining > 0:
+            time.sleep(remaining)
     finally:
         print(f"[RESTORE] GPIO {gpio_pin} -> HIGH", flush=True)
         GPIO.output(gpio_pin, GPIO.HIGH)
@@ -135,15 +138,9 @@ def test_relay(name: str, gpio_pin: int, target_ip: str) -> bool:
 # ================== MAIN ==================
 
 
-def _cams_target_ip() -> str:
-    if not CAM_IPS:
-        raise SystemExit("No camera IPs configured (CAM_IPS); cannot run cams relay test.")
-    return CAM_IPS[0]
-
-
 RELAYS = {
     "main": (RELAY_MAIN, lambda: MAIN_PI_IP),
-    "cams": (RELAY_CAMS, _cams_target_ip),
+    "cams": (RELAY_CAMS, lambda: CAM_IPS[0]),
 }
 
 
@@ -157,13 +154,14 @@ def main() -> int:
     )
     args = parser.parse_args()
 
+    selected = list(RELAYS.keys()) if args.relay == "all" else [args.relay]
+
     GPIO.setmode(GPIO.BCM)
     GPIO.setwarnings(False)
-    for pin, _ in RELAYS.values():
+    for name in selected:
+        pin, _ = RELAYS[name]
         GPIO.setup(pin, GPIO.OUT, initial=GPIO.HIGH)
 
-    selected = list(RELAYS.keys()) if args.relay == "all" else [args.relay]
-
     failures: list[str] = []
     try:
         for name in selected:
@@ -171,7 +169,8 @@ def main() -> int:
             if not test_relay(name, pin, ip_getter()):
                 failures.append(name)
     finally:
-        for pin, _ in RELAYS.values():
+        for name in selected:
+            pin, _ = RELAYS[name]
             GPIO.output(pin, GPIO.HIGH)
         GPIO.cleanup()
 

From c8dda7a6f62ad66592a3d61d318b57676e92c3d5 Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 14:06:19 +0200
Subject: [PATCH 05/10] feat: add patrol preset setup script

Adds scripts/setup_patrol_presets.py to configure PTZ presets 0-3 via
the camera API. Updates ruff per-file-ignores to cover scripts/.
---
 pyproject.toml                  |  1 +
 scripts/setup_patrol_presets.py | 70 +++++++++++++++++++++++++++++++++
 2 files changed, 71 insertions(+)
 create mode 100644 scripts/setup_patrol_presets.py

diff --git a/pyproject.toml b/pyproject.toml
index 16699144..87834a27 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -141,6 +141,7 @@ known-third-party = ["pillow", "tqdm", "onnxruntime", "huggingface_hub"]
 [tool.ruff.lint.per-file-ignores]
 "**/__init__.py" = ["I001", "F401", "CPY001"]
 "src/**.py" = ["D", "T201", "S101", "ANN", "BLE001", "S106", "S113", "S501"]
+"scripts/**.py" = ["D", "T201", "S101", "ANN", "BLE001", "S106", "S113", "S501"]
 ".github/**.py" = ["D", "T201", "ANN", "S", "PYI024"]
 "tests/**.py" = ["D103", "CPY001", "S101", "T201", "ANN001", "ANN201", "ANN202", "ARG001", "S113"]
 "pyro_camera_api/**.py" = ["D", "T201", "S101", "ANN", "BLE001", "S113", "S501", "S404", "S603", "S405", "S314", "E402", "RUF029"]
diff --git a/scripts/setup_patrol_presets.py b/scripts/setup_patrol_presets.py
new file mode 100644
index 00000000..627a1c04
--- /dev/null
+++ b/scripts/setup_patrol_presets.py
@@ -0,0 +1,70 @@
+# Copyright (C) 2022-2026, Pyronear.
+
+# This program is licensed under the Apache License 2.0.
+# See LICENSE or go to <https://opensource.org/licenses/Apache-2.0> for full license details.
+
+"""
+Setup patrol presets on a PTZ camera via the pyro_camera_api client.
+
+Sequence:
+  1. Go to pose 10
+  2. Move left 70°  -> save as preset 0
+  3. Move right 45° -> save as preset 1
+  4. Move right 45° -> save as preset 2
+  5. Move right 45° -> save as preset 3
+"""
+
+from __future__ import annotations
+
+import argparse
+import time
+
+from pyro_camera_api_client import PyroCameraAPIClient
+
+START_POSE = 10
+LEFT_DEG = 70.0
+STEP_DEG = 45.0
+
+
+def wait(seconds: float) -> None:
+    time.sleep(seconds)
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Setup patrol presets on a PTZ camera.")
+    parser.add_argument("--cam-ip", required=True, help="Camera IP, e.g. 192.168.1.11")
+    parser.add_argument("--login", default="admin", help="Camera login (handled server-side, kept for reference)")
+    parser.add_argument("--pwd", default="@Pyronear", help="Camera password (handled server-side, kept for reference)")
+    parser.add_argument("--base-url", default="http://192.168.1.99:8080", help="Camera API base URL")
+    parser.add_argument("--settle", type=float, default=4.0, help="Seconds to wait after each move before saving")
+    args = parser.parse_args()
+
+    # Note: --login and --pwd are accepted for parity with operator notes,
+    # but the camera API service uses its own server-side credentials.
+    _ = (args.login, args.pwd)
+
+    client = PyroCameraAPIClient(base_url=args.base_url, timeout=30.0)
+
+    print(f"[1/5] Moving to pose {START_POSE}")
+    client.move_camera(camera_ip=args.cam_ip, pose_id=START_POSE)
+    wait(args.settle + 4.0)
+
+    print(f"[2/5] Moving left {LEFT_DEG}°, saving as preset 0")
+    client.move_camera(camera_ip=args.cam_ip, direction="Left", degrees=LEFT_DEG)
+    wait(args.settle)
+    client.set_preset(camera_ip=args.cam_ip, idx=0)
+    print("       preset 0 saved")
+
+    for preset_id in (1, 2, 3):
+        print(f"[{preset_id + 2}/5] Moving right {STEP_DEG}°, saving as preset {preset_id}")
+        client.move_camera(camera_ip=args.cam_ip, direction="Right", degrees=STEP_DEG)
+        wait(args.settle)
+        client.set_preset(camera_ip=args.cam_ip, idx=preset_id)
+        print(f"       preset {preset_id} saved")
+
+    print("Done. Listing presets:")
+    print(client.list_presets(camera_ip=args.cam_ip))
+
+
+if __name__ == "__main__":
+    main()

From d3db0e8580b22f4116ca61c2295f2254c61ca954 Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 14:07:51 +0200
Subject: [PATCH 06/10] feat(watchdog): add requirements.txt with RPi.GPIO

Watchdog and relay_check scripts on both main Pi and Pi Zero need
RPi.GPIO; document it so deployment can pip install it.
---
 watchdog/requirements.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 watchdog/requirements.txt

diff --git a/watchdog/requirements.txt b/watchdog/requirements.txt
new file mode 100644
index 00000000..bd61b232
--- /dev/null
+++ b/watchdog/requirements.txt
@@ -0,0 +1 @@
+RPi.GPIO>=0.7.1

From 894ad90a109efa74fd0fc4c6bf0c86e137a8ab2d Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 14:09:15 +0200
Subject: [PATCH 07/10] docs(watchdog): add install dependencies note to all
 scripts

Point operators at watchdog/requirements.txt so they install RPi.GPIO
before running watchdog.py or relay_check.py on either Pi.
---
 watchdog/main_pi/relay_check.py | 3 +++
 watchdog/main_pi/watchdog.py    | 3 +++
 watchdog/pi_zero/relay_check.py | 3 +++
 watchdog/pi_zero/watchdog.py    | 3 +++
 4 files changed, 12 insertions(+)

diff --git a/watchdog/main_pi/relay_check.py b/watchdog/main_pi/relay_check.py
index 52bdbd98..3b8823ef 100644
--- a/watchdog/main_pi/relay_check.py
+++ b/watchdog/main_pi/relay_check.py
@@ -8,6 +8,9 @@
   3) verifies the device drops during the cut,
   4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
 
+Install dependencies (once per Pi):
+  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+
 Run on the main Pi:
   python3 /home/pi/pyro-engine/watchdog/main_pi/relay_check.py
 
diff --git a/watchdog/main_pi/watchdog.py b/watchdog/main_pi/watchdog.py
index 1cca9493..09e18551 100644
--- a/watchdog/main_pi/watchdog.py
+++ b/watchdog/main_pi/watchdog.py
@@ -3,6 +3,9 @@
 Watchdog for the main Pi that pings the Pi Zero and power-cycles its relay
 after repeated failures, with cooldown and daily limits.
 
+Install dependencies (once per Pi):
+  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+
 Cron setup (every 10 minutes at :05):
   1) Edit crontab:  crontab -e
   2) Add the line:
diff --git a/watchdog/pi_zero/relay_check.py b/watchdog/pi_zero/relay_check.py
index 050c73ce..ffb78cd1 100644
--- a/watchdog/pi_zero/relay_check.py
+++ b/watchdog/pi_zero/relay_check.py
@@ -8,6 +8,9 @@
   3) verifies the device drops during the cut,
   4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
 
+Install dependencies (once per Pi):
+  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+
 Run on the Pi Zero:
   python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py
   python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py --relay main
diff --git a/watchdog/pi_zero/watchdog.py b/watchdog/pi_zero/watchdog.py
index 68984d5f..9f670cf5 100644
--- a/watchdog/pi_zero/watchdog.py
+++ b/watchdog/pi_zero/watchdog.py
@@ -5,6 +5,9 @@
 It checks the main Pi health endpoint and pings camera IPs, tracking failures
 and power-cycling relays after repeated failures with cooldown/daily limits.
 
+Install dependencies (once per Pi):
+  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+
 Cron setup (every 10 minutes):
   1) Edit crontab:  crontab -e
   2) Add the line:

From c2bd2079c8160974e7322471370d6eeea4271bf8 Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 14:11:25 +0200
Subject: [PATCH 08/10] fix(watchdog): switch to rpi-lgpio for Python 3.13 /
 kernel 6 compat

RPi.GPIO 0.7.1 has no piwheels wheel for Python 3.13 and fails to
compile without python3-dev. rpi-lgpio is a drop-in replacement
(same RPi.GPIO API), ships wheels, and works on Pi 5 / kernel 6.x
where the legacy package is broken.
---
 watchdog/requirements.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/watchdog/requirements.txt b/watchdog/requirements.txt
index bd61b232..c59dcb97 100644
--- a/watchdog/requirements.txt
+++ b/watchdog/requirements.txt
@@ -1 +1,2 @@
-RPi.GPIO>=0.7.1
+rpi-lgpio>=0.6
+

From 7f40b8ba7e038ba290182ff0e6a27da477dacf1e Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 14:12:46 +0200
Subject: [PATCH 09/10] fix(watchdog): install GPIO via apt instead of pip

Cron runs scripts with /usr/bin/python3, so the GPIO library must be
available to system Python. Use python3-rpi-lgpio (Debian package) so
no venv or PEP 668 workaround is needed; drop requirements.txt.
---
 watchdog/main_pi/relay_check.py | 2 +-
 watchdog/main_pi/watchdog.py    | 2 +-
 watchdog/pi_zero/relay_check.py | 2 +-
 watchdog/pi_zero/watchdog.py    | 2 +-
 watchdog/requirements.txt       | 2 --
 5 files changed, 4 insertions(+), 6 deletions(-)
 delete mode 100644 watchdog/requirements.txt

diff --git a/watchdog/main_pi/relay_check.py b/watchdog/main_pi/relay_check.py
index 3b8823ef..e18d7eaa 100644
--- a/watchdog/main_pi/relay_check.py
+++ b/watchdog/main_pi/relay_check.py
@@ -9,7 +9,7 @@
   4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
 
 Install dependencies (once per Pi):
-  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+  sudo apt install python3-rpi-lgpio
 
 Run on the main Pi:
   python3 /home/pi/pyro-engine/watchdog/main_pi/relay_check.py
diff --git a/watchdog/main_pi/watchdog.py b/watchdog/main_pi/watchdog.py
index 09e18551..6180d73d 100644
--- a/watchdog/main_pi/watchdog.py
+++ b/watchdog/main_pi/watchdog.py
@@ -4,7 +4,7 @@
 after repeated failures, with cooldown and daily limits.
 
 Install dependencies (once per Pi):
-  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+  sudo apt install python3-rpi-lgpio
 
 Cron setup (every 10 minutes at :05):
   1) Edit crontab:  crontab -e
diff --git a/watchdog/pi_zero/relay_check.py b/watchdog/pi_zero/relay_check.py
index ffb78cd1..fe76902e 100644
--- a/watchdog/pi_zero/relay_check.py
+++ b/watchdog/pi_zero/relay_check.py
@@ -9,7 +9,7 @@
   4) drives the GPIO back HIGH (restore power) and waits for the device to come back.
 
 Install dependencies (once per Pi):
-  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+  sudo apt install python3-rpi-lgpio
 
 Run on the Pi Zero:
   python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py
diff --git a/watchdog/pi_zero/watchdog.py b/watchdog/pi_zero/watchdog.py
index 9f670cf5..faadfac4 100644
--- a/watchdog/pi_zero/watchdog.py
+++ b/watchdog/pi_zero/watchdog.py
@@ -6,7 +6,7 @@
 and power-cycling relays after repeated failures with cooldown/daily limits.
 
 Install dependencies (once per Pi):
-  pip install -r /home/pi/pyro-engine/watchdog/requirements.txt
+  sudo apt install python3-rpi-lgpio
 
 Cron setup (every 10 minutes):
   1) Edit crontab:  crontab -e
diff --git a/watchdog/requirements.txt b/watchdog/requirements.txt
deleted file mode 100644
index c59dcb97..00000000
--- a/watchdog/requirements.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-rpi-lgpio>=0.6
-

From 7b5dce3f9fcf31676a34950d3fe47bfa5bd33b1e Mon Sep 17 00:00:00 2001
From: Mateo <mateo.lostanlen@gmail.com>
Date: Wed, 29 Apr 2026 14:41:09 +0200
Subject: [PATCH 10/10] docs(relay-check): document running pi_zero test from
 main Pi

Add instructions for the common case where operators only have SSH to
the main Pi: launch the test detached on the Pi Zero so the script
survives the main Pi rebooting mid-cut, then read /tmp/relay_check.log
after reconnect. Also ignore T201/FURB105 under watchdog/ since these
CLI scripts intentionally use print().
---
 pyproject.toml                  |  2 +-
 watchdog/pi_zero/relay_check.py | 12 ++++++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 87834a27..91a4b6b8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -147,7 +147,7 @@ known-third-party = ["pillow", "tqdm", "onnxruntime", "huggingface_hub"]
 "pyro_camera_api/**.py" = ["D", "T201", "S101", "ANN", "BLE001", "S113", "S501", "S404", "S603", "S405", "S314", "E402", "RUF029"]
 "pyroengine/core.py" = ["BLE001"]
 "pyroengine/sensors.py" = ["S113", "S501", "ANN"]
-"watchdog/**.py" = ["CPY001", "S108", "S310", "S404", "S603", "S607", "BLE001", "LOG015"]
+"watchdog/**.py" = ["CPY001", "S108", "S310", "S404", "S603", "S607", "BLE001", "LOG015", "T201", "FURB105"]
 
 [tool.ruff.format]
 quote-style = "double"
diff --git a/watchdog/pi_zero/relay_check.py b/watchdog/pi_zero/relay_check.py
index fe76902e..79f1c828 100644
--- a/watchdog/pi_zero/relay_check.py
+++ b/watchdog/pi_zero/relay_check.py
@@ -16,6 +16,18 @@
   python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py --relay main
   python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py --relay cams
 
+Run from the main Pi (when you cannot reach the Pi Zero directly):
+  Testing the 'main' relay cuts power to the main Pi, which kills the SSH
+  chain to the Pi Zero, so the test must be detached on the Pi Zero. From
+  the main Pi:
+
+    ssh pi@<PIZERO_IP> \
+      'nohup python3 /home/pi/pyro-engine/watchdog/pi_zero/relay_check.py \
+       > /tmp/relay_check.log 2>&1 < /dev/null & disown; exit'
+
+  Wait ~3-4 minutes (15s cut + 90s return per relay), then reconnect and:
+    ssh pi@<PIZERO_IP> 'cat /tmp/relay_check.log'
+
 The cams test pings only the first camera in CAM_IPS as a proxy for the 12V rail.
 Exits non-zero if any relay fails the verification.
 """