dimensionalOS · kezaer · Jun 6, 2026 · Jun 6, 2026
@@ -85,7 +85,7 @@ def __init__(self, **kwargs: Any) -> None:
         self._stop_event = threading.Event()
 
         # Embedded web server — RobotWebInterface provides FastAPI app + run()/shutdown()
-        self._web_server = RobotWebInterface(port=self.config.server_port)
+        self._web_server = self._create_web_server()
         self._web_server_thread: threading.Thread | None = None
 
         # Fingerprint-based message dispatch table
@@ -96,6 +96,12 @@ def __init__(self, **kwargs: Any) -> None:
 
         self._setup_routes()
 
+    def _create_web_server(self) -> RobotWebInterface:
+        return RobotWebInterface(
+            host=self.config.g.listen_host,
+            port=self.config.server_port,
+        )
+
     def _setup_routes(self) -> None:
         """Register teleop routes on the embedded web server."""
 

@@ -0,0 +1,39 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Any
+
+from dimos.core.global_config import GlobalConfig
+from dimos.teleop.phone import phone_teleop_module
+from dimos.teleop.phone.phone_teleop_module import PhoneTeleopConfig, PhoneTeleopModule
+
+
+def test_phone_teleop_web_server_uses_module_global_config_listen_host(monkeypatch) -> None:
+    captured: dict[str, Any] = {}
+
+    class FakeRobotWebInterface:
+        def __init__(self, **kwargs: Any) -> None:
+            captured.update(kwargs)
+
+    monkeypatch.setattr(phone_teleop_module, "RobotWebInterface", FakeRobotWebInterface)
+
+    module = PhoneTeleopModule.__new__(PhoneTeleopModule)
+    module.config = PhoneTeleopConfig(
+        server_port=8444,
+        g=GlobalConfig(listen_host="0.0.0.0"),
+    )
+
+    module._create_web_server()
+
+    assert captured == {"host": "0.0.0.0", "port": 8444}
@@ -23,10 +23,19 @@
 class RobotWebInterface(FastAPIServer):
     """Wrapper class for the dimos-interface FastAPI server."""
 
-    def __init__(self, port: int = 5555, text_streams=None, audio_subject=None, **streams) -> None:  # type: ignore[no-untyped-def]
+    def __init__(  # type: ignore[no-untyped-def]
+        self,
+        port: int = 5555,
+        text_streams=None,
+        audio_subject=None,
+        *,
+        host: str | None = None,
+        **streams,
+    ) -> None:
         super().__init__(
             dev_name="Robot Web Interface",
             edge_type="Bidirectional",
+            host=host,
             port=port,
             text_streams=text_streams,
             audio_subject=audio_subject,

@@ -29,15 +29,46 @@
 </head>
 <body>
     <div class="container">
-        <iframe class="command-center" src="http://localhost:7779/command-center"></iframe>
+        <iframe class="command-center"></iframe>
         <div class="divider" role="separator" aria-label="Resize panels"></div>
-        <iframe class="rerun" src="http://localhost:9090/?url=rerun%2Bhttp%3A%2F%2Flocalhost%3A9876%2Fproxy"></iframe>
+        <iframe class="rerun"></iframe>
     </div>
     <script>
         (function () {
+            const params = new URLSearchParams(window.location.search);
+            const config = window.DIMOS_RERUN_CONFIG || {};
+            const defaultHost = window.location.hostname || '127.0.0.1';
+            const rerunHost = params.get('rerunHost') || config.host || defaultHost;
+            const rerunGrpcPort = params.get('rerunGrpcPort') || config.grpcPort || '9877';
+            const rerunWebPort = params.get('rerunWebPort') || config.webPort || '9878';
+            const commandCenter = document.querySelector('.command-center');
+            const rerun = document.querySelector('.rerun');
+
+            function hostForUrl(hostname) {
+                return hostname.includes(':') && !hostname.startsWith('[')
+                    ? `[${hostname}]`
+                    : hostname;
+            }
+
+            function normalizeHttpProtocol(value) {
+                return value && value.replace(/:$/, '') === 'https' ? 'https' : 'http';
+            }
+
+            const rerunUrlHost = hostForUrl(rerunHost);
+            const pageProtocol = normalizeHttpProtocol(window.location.protocol);
+            const rerunWebProtocol = normalizeHttpProtocol(
+                params.get('rerunWebProtocol') || config.webProtocol || pageProtocol
+            );
+            const rerunGrpcProtocol = normalizeHttpProtocol(
+                params.get('rerunGrpcProtocol') || config.grpcProtocol || rerunWebProtocol
+            );
+            const rerunGrpcUrl = `rerun+${rerunGrpcProtocol}://${rerunUrlHost}:${rerunGrpcPort}/proxy`;
+
+            commandCenter.src = `${window.location.origin}/command-center`;
+            rerun.src = `${rerunWebProtocol}://${rerunUrlHost}:${rerunWebPort}/?url=${encodeURIComponent(rerunGrpcUrl)}`;
+
             const container = document.querySelector('.container');
             const divider = document.querySelector('.divider');
-            const commandCenter = document.querySelector('.command-center');
             const body = document.body;
             const minWidth = 0; // 16rem baseline for small screens
 

@@ -0,0 +1,47 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+
+
+def test_rerun_dashboard_uses_current_host_and_rerun_ports() -> None:
+    html = Path(__file__).with_name("rerun_dashboard.html").read_text()
+
+    assert "window.location.origin}/command-center" in html
+    assert "window.location.hostname" in html
+    assert "rerunGrpcPort" in html
+    assert "rerunWebPort" in html
+    assert "window.location.protocol" in html
+    assert "normalizeHttpProtocol" in html
+    assert "rerunWebProtocol" in html
+    assert "rerunGrpcProtocol" in html
+    assert "9877" in html
+    assert "9878" in html
+
+
+def test_rerun_dashboard_does_not_use_stale_rerun_defaults() -> None:
+    html = Path(__file__).with_name("rerun_dashboard.html").read_text()
+
+    assert "localhost:9090" not in html
+    assert "localhost:9876" not in html
+    assert ":9090" not in html
+    assert ":9876" not in html
+
+
+def test_rerun_dashboard_does_not_hardcode_rerun_web_scheme() -> None:
+    html = Path(__file__).with_name("rerun_dashboard.html").read_text()
+
+    assert "rerun.src = `http://" not in html
+    assert "rerun+http://${rerunUrlHost}" not in html
+    assert "rerun.src = `${rerunWebProtocol}://" in html
@@ -0,0 +1,23 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dimos.web.robot_web_interface import RobotWebInterface
+
+
+def test_robot_web_interface_accepts_explicit_host() -> None:
+    interface = RobotWebInterface(host="0.0.0.0", port=8444)
+
+    assert interface.host == "0.0.0.0"
+    assert interface.port == 8444
+    assert "host" not in interface.streams
@@ -0,0 +1,51 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Any
+
+from dimos.core.global_config import GlobalConfig
+from dimos.web.websocket_vis import websocket_vis_module
+from dimos.web.websocket_vis.websocket_vis_module import WebsocketConfig, WebsocketVisModule
+
+
+def test_websocket_vis_uses_module_global_config_listen_host(monkeypatch) -> None:
+    captured: dict[str, Any] = {}
+
+    class FakeServer:
+        def __init__(self, config: Any) -> None:
+            captured["config"] = config
+
+        def run(self) -> None:
+            captured["ran"] = True
+
+    def fake_config(app: Any, **kwargs: Any) -> dict[str, Any]:
+        captured["app"] = app
+        captured["kwargs"] = kwargs
+        return kwargs
+
+    monkeypatch.setattr(websocket_vis_module.uvicorn, "Config", fake_config)
+    monkeypatch.setattr(websocket_vis_module.uvicorn, "Server", FakeServer)
+
+    module = WebsocketVisModule.__new__(WebsocketVisModule)
+    module.app = object()
+    module.config = WebsocketConfig(
+        port=7779,
+        g=GlobalConfig(listen_host="0.0.0.0"),
+    )
+
+    module._run_uvicorn_server()
+
+    assert captured["kwargs"]["host"] == "0.0.0.0"
+    assert captured["kwargs"]["port"] == 7779
+    assert captured["ran"] is True
@@ -47,7 +47,6 @@
 
 from dimos.constants import DEFAULT_THREAD_JOIN_TIMEOUT
 from dimos.core.core import rpc
-from dimos.core.global_config import global_config
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import In, Out
 from dimos.mapping.models import LatLon
@@ -355,7 +354,7 @@ async def move_command(sid: str, data: dict[str, Any]) -> None:
     def _run_uvicorn_server(self) -> None:
         config = uvicorn.Config(
             self.app,  # type: ignore[arg-type]
-            host=global_config.listen_host,
+            host=self.config.g.listen_host,
             port=self.config.port,
             log_level="error",  # Reduce verbosity
         )