feat(teleop): replace Deno bridge with embedded FastAPI WebSocket server

[ruthwikdasyam]

Problem

TypeScript/Deno server collects raw pose/button data from Quest/Phone browser, encodes as full LCM packets (with topic headers), publishes directly to LCM UDP and Python DimOS modules subscribe to LCM topics, transform data, publish outputs
This meant a hard dependency on LCM as the transport between TS and Python, blueprints couldn't understand the topics used, and the Deno runtime was an external dependency

#1222
Closes DIM-536
Closes DIM-552

Solution

Embed a FastAPI/uvicorn HTTPS server directly inside each teleop module (following the WebInput + RobotWebInterface pattern). The JS client sends msg.encode() - raw LCM-encoded bytes without topic headers - over WebSocket. Python side decodes and processes:

Breaking Changes

None

How to Test

# Phone teleop
dimos run simple-phone-teleop
# Open https://<host-ip>:8444/teleop on phone, accept cert, start sensors, connect, hold to drive

# Quest teleop
dimos run arm-teleop
# Open https://<host-ip>:8443/teleop on Quest browser, accept cert, tap Connect

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR eliminates the Deno bridge subprocess and embeds a FastAPI/uvicorn HTTPS server directly into each teleop module. The client now sends raw LCM-encoded bytes (without topic headers) over WebSocket, and Python uses fingerprint-based dispatch to decode messages.

Key improvements:

• Removes external Deno runtime dependency and subprocess lifecycle management
• Eliminates LCM UDP transport between TypeScript and Python
• Simplifies architecture: browser → WebSocket → Python module (direct)
• Adds SSL certificate auto-generation for HTTPS (required by mobile sensor APIs)

Minor issues:

• Synchronous decoders called from async WebSocket handlers may cause event loop blocking under lock contention
• Quest module's frame_id routing silently defaults to RIGHT for non-"left" values without validation

Confidence Score: 4/5

• Safe to merge with minor style improvements recommended
• The architectural change is sound and eliminates external dependencies. The async/sync mixing in WebSocket handlers is a performance consideration rather than a correctness issue, and frame_id routing works correctly for normal WebXR handedness values. No breaking changes or security issues identified.
• Pay attention to dimos/teleop/quest/quest_teleop_module.py and dimos/teleop/phone/phone_teleop_module.py for potential event loop blocking if lock contention becomes an issue in production

Important Files Changed

Filename	Overview
dimos/teleop/phone/phone_teleop_module.py	Replaces Deno bridge with embedded FastAPI WebSocket server. Synchronous decoders called from async context may block event loop under lock contention.
dimos/teleop/quest/quest_teleop_module.py	Replaces Deno bridge with embedded FastAPI server. Frame ID routing defaults to RIGHT for non-"left" values. Async/sync mixing in WebSocket handlers.
dimos/web/dimos_interface/api/server.py	Adds SSL support and certificate auto-generation using openssl. Clean implementation with proper error handling.
dimos/teleop/phone/web/static/index.html	Removes LCM topic encoding, now sends raw msg.encode() bytes. Updates WebSocket URL to include /ws path.
dimos/teleop/quest/web/static/index.html	Removes LCM topic encoding, uses frame_id for routing instead. Sends raw msg.encode() bytes over WebSocket.

Sequence Diagram

sequenceDiagram
    participant Browser as Quest/Phone Browser
    participant WS as WebSocket (/ws)
    participant Decoder as Fingerprint Decoder
    participant Module as Teleop Module
    participant Out as Output Streams

    Browser->>WS: Connect via WSS
    WS-->>Browser: Accept connection
    
    loop Teleoperation Active
        Browser->>Browser: Read sensors/controllers
        Browser->>Browser: msg.encode() (raw LCM bytes)
        Browser->>WS: Send binary data
        WS->>Decoder: Extract fingerprint (first 8 bytes)
        
        alt Known fingerprint
            Decoder->>Module: Call decoder (acquire lock)
            Module->>Module: Update state
        else Unknown fingerprint
            Decoder->>Decoder: Log warning
        end
        
        Module->>Module: Control loop (50Hz)
        Module->>Out: Publish PoseStamped/TwistStamped
    end
    
    Browser->>WS: Disconnect
    WS-->>Module: WebSocketDisconnect

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