Add cooldown to ASR sensor to suppress rapid transcripts

.env.example

@@ -1,23 +1,5 @@
-# This variable is required if you are using the Ethereum wallet integration.
-ETH_ADDRESS=
-
-# These variables are required if you are using the Coinbase wallet integration.
-COINBASE_WALLET_ID=
-COINBASE_API_KEY=
-COINBASE_API_SECRET=
-
-# Backup provision of api key and URID if you do not want to modify the config file
+# Backup provision of api key if you do not want to modify the config file
 OM_API_KEY=
-URID=
-
-# These variables are required if you are using the Twitter integration.
-TWITTER_API_KEY=
-TWITTER_API_SECRET=
-TWITTER_ACCESS_TOKEN=
-TWITTER_ACCESS_TOKEN_SECRET=
-
-# Robot IP address fallback (used when not specified in config file)
-ROBOT_IP=
 
 # Command to run (e.g., unitree_go2_modes). Used by Docker.
 OM1_COMMAND=

.github/copilot-instructions.md

@@ -1,33 +1,44 @@
 # Copilot Instructions
 
 ## Tooling / Dependencies
-- We use **uv** for Python dependency management and execution.
-- Dependencies are defined in `pyproject.toml` (do not introduce `requirements.txt` unless explicitly requested).
-- Use these commands in docs/examples:
-  - Install/sync: `uv sync`
-  - Add deps: `uv add <package>`
-  - Run commands: `uv run <command>` (e.g., `uv run pytest`)
-- If adding a new dependency, prefer a well-maintained package and keep the dependency list minimal.
-- Assume a lockfile is used (e.g., `uv.lock`) — do not suggest deleting or bypassing it.
+- We use **Make** for building, testing, and running the project.
+- Dependencies are managed via Go modules (`go.mod` and `go.sum`).
+- Use these make commands:
+  - Build: `make build`
+  - Test: `make test`
+  - Test with coverage: `make test-coverage`
+  - Run: `make run CONFIG=<config_name>`
+  - Dev mode: `make dev CONFIG=<config_name>`
+  - Lint: `make lint`
+  - Format: `make fmt`
+  - Check all: `make check` (runs fmt, vet, lint, and test)
+  - Clean: `make clean`
+- When adding a new dependency, use `go get <package>` and run `make deps` to tidy.
+- Keep the dependency list minimal and prefer well-maintained packages.
 
 ## Coding Style
-- Use Python 3.10
-- Prefer async/await
-- Use type hints everywhere
-- Follow PEP8 and Black formatting
+- Use Go 1.21+
+- Follow Go conventions and idiomatic patterns
+- Use proper error handling (never ignore errors)
+- Follow the standard Go project layout
+- Use `gofmt` for formatting (enforced by `make fmt`)
 
 ## Architecture
 - Use modular design
-- Separate API, service, and data layers
-- No business logic inside routes
+- Separate concerns: inputs, actions, backgrounds, LLM providers
+- Keep business logic out of HTTP handlers
+- Use interfaces for abstractions
 
 ## Testing
-- Use pytest
+- Use Go's built-in testing framework
 - Add unit tests for all new functions
 - Aim for 90% code coverage
-- Prefer to use patch and mock for external dependencies
-- For patches, patch it using `with (patch("full.path.to.ClassOrFunction1") as mock1, patch("full.path.to.ClassOrFunction2") as mock2):` to ensure the patch is applied in the correct scope.
+- Run tests with race detector: `make test`
+- Use table-driven tests where appropriate
+- Mock external dependencies using interfaces
 
 ## Comments
-- Write numpy style docstrings
+- Write clear package documentation
+- Document exported functions and types
 - Avoid obvious comments
+- Use godoc conventions

.github/workflows/binary-release.yml

@@ -0,0 +1,210 @@
+name: "OM1 Binary Release"
+
+on:
+  push:
+    branches: [ "go" ]
+    tags: [ "v*" ]
+  workflow_dispatch:
+    inputs:
+      version:
+        description: "Version/tag for naming the archives (e.g. v1.2.3)"
+        required: true
+        default: "v0.0.0-dev"
+      publish:
+        description: "Create a GitHub Release and upload the archives"
+        type: boolean
+        default: false
+
+permissions:
+  contents: write
+
+env:
+  ZENOH_C_VERSION: "1.9.0"
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      version: ${{ steps.v.outputs.version }}
+      publish: ${{ steps.v.outputs.publish }}
+      prerelease: ${{ steps.v.outputs.prerelease }}
+    steps:
+      - id: v
+        shell: bash
+        run: |
+          set -euo pipefail
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            echo "version=${{ inputs.version }}" >> "$GITHUB_OUTPUT"
+            echo "publish=${{ inputs.publish }}"  >> "$GITHUB_OUTPUT"
+            echo "prerelease=false"               >> "$GITHUB_OUTPUT"
+          elif [[ "${GITHUB_REF}" == refs/tags/v* ]]; then
+            echo "version=${GITHUB_REF_NAME}"     >> "$GITHUB_OUTPUT"
+            echo "publish=true"                   >> "$GITHUB_OUTPUT"
+            echo "prerelease=false"               >> "$GITHUB_OUTPUT"
+          else
+            echo "version=nightly"                >> "$GITHUB_OUTPUT"
+            echo "publish=true"                   >> "$GITHUB_OUTPUT"
+            echo "prerelease=true"                >> "$GITHUB_OUTPUT"
+          fi
+
+  build-unix:
+    name: Build ${{ matrix.name }}
+    needs: setup
+    runs-on: ${{ matrix.runner }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: linux-amd64
+            runner: ubuntu-latest
+            os: linux
+          - name: linux-arm64
+            runner: ubuntu-22.04-arm
+            os: linux
+          - name: darwin-arm64
+            runner: macos-14
+            os: darwin
+          - name: darwin-amd64
+            runner: macos-15-intel
+            os: darwin
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install build dependencies (Linux)
+        if: matrix.os == 'linux'
+        run: sudo apt-get update && sudo apt-get install -y portaudio19-dev pkg-config patchelf
+
+      - name: Install build dependencies (macOS)
+        if: matrix.os == 'darwin'
+        run: brew install portaudio pkg-config
+
+      - name: Set up Go
+        uses: actions/setup-go@v5
+        with:
+          go-version-file: go.mod
+          cache: true
+
+      - name: Cache zenoh-c
+        uses: actions/cache@v4
+        with:
+          path: .zenoh-c
+          key: ${{ runner.os }}-${{ runner.arch }}-zenoh-c-${{ env.ZENOH_C_VERSION }}
+
+      - name: Build binary
+        run: make build
+
+      - name: Package archive
+        id: pkg
+        shell: bash
+        env:
+          VERSION: ${{ needs.setup.outputs.version }}
+          PLATFORM: ${{ matrix.name }}
+        run: |
+          set -euo pipefail
+          STAGE="dist/om1-${VERSION}-${PLATFORM}"
+          mkdir -p "$STAGE"
+
+          # Binary
+          cp build/om1 "$STAGE/om1"
+
+          # Bundle the zenoh-c shared library next to the binary and make the
+          # binary look for it via a relative rpath.
+          if [ "${{ matrix.os }}" = "linux" ]; then
+            cp .zenoh-c/lib/libzenohc.so* "$STAGE/"
+            patchelf --set-rpath '$ORIGIN' "$STAGE/om1"
+          else
+            cp .zenoh-c/lib/libzenohc.dylib "$STAGE/"
+            # Drop the CI's absolute build-time rpath and add a relative one.
+            install_name_tool -delete_rpath "$PWD/.zenoh-c/lib" "$STAGE/om1" 2>/dev/null || true
+            install_name_tool -add_rpath @executable_path "$STAGE/om1"
+          fi
+
+          # Runtime data the binary expects to find via -config / knowledge base.
+          cp -R config "$STAGE/config"
+          [ -d knowledge_base ] && cp -R knowledge_base "$STAGE/knowledge_base" || true
+
+          cat > "$STAGE/INSTALL.txt" <<EOF
+          OM1 ${VERSION} (${PLATFORM})
+
+          1. Install runtime prerequisites:
+               macOS:  brew install portaudio ffmpeg
+               Linux:  sudo apt-get install -y libportaudio2 ffmpeg
+
+          2. Run:
+               ./om1 -config config/conversation.json5
+
+          The bundled libzenohc (in this folder) is loaded automatically via a
+          relative rpath, so keep it next to the om1 binary.
+          EOF
+
+          ARCHIVE="om1-${VERSION}-${PLATFORM}.tar.gz"
+          tar -C dist -czf "$ARCHIVE" "om1-${VERSION}-${PLATFORM}"
+          shasum -a 256 "$ARCHIVE" > "${ARCHIVE}.sha256"
+          echo "archive=${ARCHIVE}" >> "$GITHUB_OUTPUT"
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.name }}
+          path: |
+            ${{ steps.pkg.outputs.archive }}
+            ${{ steps.pkg.outputs.archive }}.sha256
+          if-no-files-found: error
+
+  release:
+    name: Publish Release
+    runs-on: ubuntu-latest
+    needs: [setup, build-unix]
+    if: ${{ needs.setup.outputs.publish == 'true' }}
+    permissions:
+      contents: write
+    environment:
+      name: ${{ needs.setup.outputs.version == 'nightly' && 'staging' || 'production' }}
+      url: ${{ steps.gh_release.outputs.url }}
+    steps:
+      - name: Download all artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: artifacts
+
+      - name: Flatten artifacts
+        run: |
+          mkdir -p release
+          find artifacts -type f \( -name "*.tar.gz" -o -name "*.zip" -o -name "*.sha256" \) -exec cp {} release/ \;
+          ls -lh release
+
+      - name: Move nightly tag to current commit
+        if: needs.setup.outputs.version == 'nightly'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh api -X PATCH "repos/${{ github.repository }}/git/refs/tags/nightly" \
+            -f sha="${{ github.sha }}" -F force=true \
+          || gh api -X POST "repos/${{ github.repository }}/git/refs" \
+            -f ref="refs/tags/nightly" -f sha="${{ github.sha }}"
+
+      - name: Create / update GitHub Release
+        id: gh_release
+        uses: softprops/action-gh-release@v2
+        with:
+          tag_name: ${{ needs.setup.outputs.version }}
+          name: ${{ needs.setup.outputs.version == 'nightly' && 'Development Build' || needs.setup.outputs.version }}
+          prerelease: ${{ needs.setup.outputs.prerelease == 'true' }}
+          generate_release_notes: true
+          files: release/*
+
+      - name: Write release summary
+        run: |
+          {
+            echo "## OM1 ${{ needs.setup.outputs.version }} published"
+            echo ""
+            echo "- **Release:** ${{ steps.gh_release.outputs.url }}"
+            echo "- **Channel:** ${{ needs.setup.outputs.version == 'nightly' && 'development (prerelease)' || 'production' }}"
+            echo "- **Commit:** \`${{ github.sha }}\`"
+            echo ""
+            echo "### Assets"
+            echo '```'
+            ls -1 release/*.tar.gz
+            echo '```'
+          } >> "$GITHUB_STEP_SUMMARY"