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Merge pull request 'feat: social memory DB (Issue #443)' (#450) from sl-webui/issue-443-social-memory into main

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# SaltyBot Diagnostic Self-Test System
Comprehensive hardware diagnostics and health monitoring for SaltyBot. Performs startup checks on critical hardware, continuous runtime monitoring, and publishes detailed diagnostic data.
## Features
### Startup Hardware Checks
Validates hardware availability and connectivity at boot:
- **RPLIDAR**: Serial port detection, rotation verification
- **RealSense D435i**: USB enumeration, stream availability
- **VESC Motor Controller**: UART connection, firmware status
- **Jabra Microphone**: USB audio device detection
- **STM32 Bridge**: Serial port verification, watchdog status
- **Servo Controller**: I2C bus communication
- **WiFi**: Network interface status
- **GPS Module**: Serial port and fix detection
- **Disk Space**: Storage availability checking
- **System RAM**: Memory availability
### Runtime Monitoring
Continuous health checks during operation:
- **Sensor FPS**: RealSense and RPLIDAR frame rates
- **Motor Stall**: Encoder latency detection
- **Temperature**: Orin GPU (>80°C warn, >85°C error), VESC (>60°C warn, >70°C error)
- **Network Latency**: Ping time monitoring
- **System Resources**: CPU, RAM usage trends
### Notifications & Feedback
- **TTS Announcements**: Boot result via text-to-speech
- **Face Animations**: Boot success/error display
- **Diagnostic Publishing**: `/saltybot/diagnostics` (DiagnosticArray)
- **JSON Logging**: Detailed logs to `/home/seb/saltybot-data/diagnostics/`
## Topics
### Published
- `/saltybot/diagnostics` (diagnostic_msgs/DiagnosticArray): System health status
- `/saltybot/tts_say` (std_msgs/String): Boot result announcement
- `/saltybot/face/boot_animation` (std_msgs/String): Boot animation trigger
### Subscribed
- Implicitly monitors system topics for FPS/latency data
## Configuration
Edit `config/diagnostic_checks.yaml`:
```yaml
startup_checks:
enabled: true
checks: [rplidar, realsense, vesc, jabra_microphone, ...]
runtime_monitoring:
enabled: true
frequency_hz: 1
temperatures:
jetson_gpu: {warn_c: 80, error_c: 85, critical_c: 90}
vesc_motor: {warn_c: 60, error_c: 70, critical_c: 80}
logging:
directory: /home/seb/saltybot-data/diagnostics
retention_days: 30
```
## Launch
```bash
# Default launch with startup checks + runtime monitoring
ros2 launch saltybot_diagnostics diagnostics.launch.py
# Startup checks only
ros2 launch saltybot_diagnostics diagnostics.launch.py \
enable_runtime_monitoring:=false
# Custom config
ros2 launch saltybot_diagnostics diagnostics.launch.py \
config_file:=/path/to/custom_checks.yaml
```
## Diagnostic Array Format
Published to `/saltybot/diagnostics`:
```python
diagnostic_msgs/DiagnosticArray:
header:
stamp: <timestamp>
status:
- name: "saltybot/rplidar"
level: 0 # OK=0, WARN=1, ERROR=2, STALE=3
message: "RPLIDAR detected on /dev/ttyUSB0"
values:
- key: "port"
value: "/dev/ttyUSB0"
- name: "saltybot/realsense"
level: 2 # ERROR
message: "RealSense not found on expected USB bus"
values: []
- name: "saltybot/gpu_temp"
level: 1 # WARN
message: "Runtime check"
values:
- key: "temperature_c"
value: "82.5"
- key: "threshold_warn"
value: "80"
```
## JSON Diagnostics Log Format
Files saved to `/home/seb/saltybot-data/diagnostics/diagnostics_YYYYMMDD_HHMMSS.json`:
```json
{
"timestamp": "2025-03-05T10:00:00.123456",
"check_type": "startup_checks",
"hardware_checks": {
"rplidar": {
"status": "OK",
"message": "RPLIDAR detected on /dev/ttyUSB0",
"details": {"port": "/dev/ttyUSB0"}
},
"realsense": {
"status": "ERROR",
"message": "RealSense not found",
"details": {}
}
},
"runtime_metrics": {
"gpu_temp": {
"status": "OK",
"temperature_c": 65.0,
"threshold_warn": 80
},
"network_latency": {
"status": "WARN",
"latency_ms": 150
}
}
}
```
## TTS Announcements
Boot result messages published to `/saltybot/tts_say`:
- Success: "Boot complete. All systems online."
- With errors: "Boot complete with errors. RPLIDAR, RealSense offline."
## Status Levels
- **OK** (0): System healthy, no action needed
- **WARN** (1): Minor issues, monitor closely
- **ERROR** (2): Critical failure, may affect operation
- **STALE** (3): No data, check unavailable
## Logs and Data
Diagnostic logs stored in `/home/seb/saltybot-data/diagnostics/`:
- Auto-rotated every 100MB or 30 days
- JSON format for easy parsing
- Full boot record + runtime metrics
## Integration with Full Stack
Add to `full_stack.launch.py` at t=0s:
```python
IncludeLaunchDescription(
PythonLaunchDescriptionSource([...diagnostics.launch.py]),
launch_arguments={'enable_startup_check': 'true'}.items(),
)
```
## Debugging
Check current diagnostics:
```bash
ros2 topic echo /saltybot/diagnostics
```
View latest diagnostic log:
```bash
tail -f /home/seb/saltybot-data/diagnostics/diagnostics_*.json | jq
```
Simulate diagnostic errors (for testing):
```bash
# Monitor what would be logged
ros2 launch saltybot_diagnostics diagnostics.launch.py \
enable_startup_check:=true enable_runtime_monitoring:=true
```
## Hardware Requirements
- Jetson Orin (for temperature monitoring)
- Linux with psutil (for system resources)
- Standard ROS2 diagnostic_msgs package

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# Diagnostic System Configuration
startup_checks:
# Hardware checks performed at boot
enabled: true
timeout_s: 30 # Maximum time allowed for startup checks
checks:
- rplidar
- realsense
- vesc
- jabra_microphone
- stm32_bridge
- servos
- wifi
- gps
- disk_space
- system_ram
# Serial device mappings
serial_devices:
rplidar: /dev/ttyUSB0
vesc: [/dev/ttyUSB1, /dev/ttyUSB2, /dev/ttyACM0]
stm32_bridge: /dev/ttyUSB0
gps: [/dev/ttyUSB3, /dev/ttyUSB4, /dev/ttyACM1]
# Device thresholds
disk_space:
warn_percent: 80
error_percent: 90
critical_percent: 95
system_ram:
warn_percent: 80
error_percent: 90
critical_percent: 95
runtime_monitoring:
# Continuous runtime health checks
enabled: true
frequency_hz: 1 # Check frequency
# Temperature thresholds
temperatures:
jetson_gpu:
warn_c: 80
error_c: 85
critical_c: 90
vesc_motor:
warn_c: 60
error_c: 70
critical_c: 80
# Network monitoring
network:
ping_target: 8.8.8.8
latency_warn_ms: 100
latency_error_ms: 200
# Sensor monitoring
sensors:
realsense_min_fps: 15
rplidar_min_fps: 5
motor_stall_timeout_s: 2
# TTS notifications
notifications:
tts_boot_success: "Boot complete. All systems online."
tts_boot_error: "Boot complete with errors. Check diagnostics."
tts_on_critical: "System critical. {error_components} offline."
# Face animations
animations:
boot_success: boot_success
boot_error: boot_error
critical_alert: critical_alert
# Logging
logging:
directory: /home/seb/saltybot-data/diagnostics
enable_json_logs: true
enable_csv_logs: false
retention_days: 30
max_file_size_mb: 100

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"""Launch diagnostic self-test node."""
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
"""Generate launch description for diagnostics."""
package_dir = get_package_share_directory("saltybot_diagnostics")
config_dir = os.path.join(package_dir, "config")
# Launch arguments
config_file_arg = DeclareLaunchArgument(
"config_file",
default_value=os.path.join(config_dir, "diagnostic_checks.yaml"),
description="Path to diagnostic checks configuration YAML file",
)
enable_startup_arg = DeclareLaunchArgument(
"enable_startup_check",
default_value="true",
description="Enable startup hardware checks",
)
enable_runtime_arg = DeclareLaunchArgument(
"enable_runtime_monitoring",
default_value="true",
description="Enable continuous runtime monitoring",
)
log_dir_arg = DeclareLaunchArgument(
"log_directory",
default_value="/home/seb/saltybot-data/diagnostics",
description="Directory for diagnostic logs",
)
# Diagnostics node
diagnostics_node = Node(
package="saltybot_diagnostics",
executable="diagnostics_node",
name="diagnostics",
output="screen",
parameters=[
{
"config_file": LaunchConfiguration("config_file"),
"enable_startup_check": LaunchConfiguration("enable_startup_check"),
"enable_runtime_monitoring": LaunchConfiguration("enable_runtime_monitoring"),
"log_directory": LaunchConfiguration("log_directory"),
"monitoring_frequency": 1.0, # Hz
}
],
)
return LaunchDescription([
config_file_arg,
enable_startup_arg,
enable_runtime_arg,
log_dir_arg,
diagnostics_node,
])

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>saltybot_diagnostics</name>
<version>0.1.0</version>
<description>
Comprehensive diagnostic self-test system for SaltyBot. Performs startup hardware
checks (RPLIDAR, RealSense, VESC, Jabra, servos, WiFi, GPS, disk, RAM) and
continuous monitoring (sensor FPS, motor stall, temps, network latency).
Publishes /saltybot/diagnostics (DiagnosticArray), triggers TTS boot result,
face animation, and logs to /home/seb/saltybot-data/diagnostics/.
</description>
<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
<license>MIT</license>
<depend>rclpy</depend>
<depend>diagnostic_msgs</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<buildtool_depend>ament_python</buildtool_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

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# Diagnostics package

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#!/usr/bin/env python3
"""Comprehensive diagnostic self-test for SaltyBot.
Performs startup hardware checks and continuous runtime monitoring.
Startup checks:
- RPLIDAR (serial connection, rotation)
- RealSense D435i (USB enumeration, streams)
- VESC motor controller (UART connection, firmware)
- Jabra microphone (USB audio device)
- STM32 bridge (serial port, watchdog)
- Servo controller (PWM channels)
- WiFi (network interface, connectivity)
- GPS module (serial port, fix)
- Disk space (/home/seb/saltybot-data)
- System RAM (available memory)
Runtime monitoring:
- Sensor FPS drops (RealSense, RPLIDAR target)
- Motor stall detection (wheel encoder latency)
- Temperature thresholds (Orin GPU >80C, VESC >60C)
- Network latency (ping time)
Published topics:
/saltybot/diagnostics (diagnostic_msgs/DiagnosticArray) - System diagnostics
Services triggered:
/saltybot/tts_say - TTS boot result announcement
/saltybot/face/boot_animation - Face boot animation
Logging:
/home/seb/saltybot-data/diagnostics/ - JSON diagnostic logs
"""
import json
import time
import os
import subprocess
from pathlib import Path
from typing import Dict, List, Tuple, Optional
from dataclasses import dataclass, asdict
from datetime import datetime
from enum import Enum
import threading
import yaml
import psutil
import rclpy
from rclpy.node import Node
from rclpy.timer import Timer
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
from std_msgs.msg import String
class DiagnosticLevel(Enum):
"""Diagnostic severity levels matching ROS2 DiagnosticStatus."""
OK = 0
WARN = 1
ERROR = 2
STALE = 3
@dataclass
class HardwareCheck:
"""Result of a hardware check."""
name: str
status: str # "OK", "WARN", "ERROR", "UNKNOWN"
message: str
details: Dict = None
def __post_init__(self):
if self.details is None:
self.details = {}
class DiagnosticsNode(Node):
"""ROS2 node for system diagnostics and self-test."""
def __init__(self):
super().__init__("diagnostics")
# Parameters
self.declare_parameter("enable_startup_check", True)
self.declare_parameter("enable_runtime_monitoring", True)
self.declare_parameter("monitoring_frequency", 1.0) # Hz
self.declare_parameter("log_directory", "/home/seb/saltybot-data/diagnostics")
self.declare_parameter("config_file", "diagnostic_checks.yaml")
self.enable_startup_check = self.get_parameter("enable_startup_check").value
self.enable_runtime_monitoring = self.get_parameter("enable_runtime_monitoring").value
self.monitoring_freq = self.get_parameter("monitoring_frequency").value
self.log_dir = Path(self.get_parameter("log_directory").value)
config_file = self.get_parameter("config_file").value
# Create log directory
self.log_dir.mkdir(parents=True, exist_ok=True)
# Load configuration
self.config = self._load_config(config_file)
# State
self.hardware_checks: Dict[str, HardwareCheck] = {}
self.runtime_metrics: Dict[str, dict] = {}
self.startup_complete = False
self.startup_time = time.time()
self.last_sensor_timestamps: Dict[str, float] = {}
# Publishers
self.pub_diagnostics = self.create_publisher(DiagnosticArray, "/saltybot/diagnostics", 1)
self.pub_tts = self.create_publisher(String, "/saltybot/tts_say", 1)
self.pub_face = self.create_publisher(String, "/saltybot/face/boot_animation", 1)
# Run startup checks in background
if self.enable_startup_check:
check_thread = threading.Thread(target=self._run_startup_checks)
check_thread.daemon = True
check_thread.start()
# Runtime monitoring timer
if self.enable_runtime_monitoring:
period = 1.0 / self.monitoring_freq
self.timer: Timer = self.create_timer(period, self._runtime_check)
self.get_logger().info(
f"Diagnostics initialized. Startup checks: {self.enable_startup_check}, "
f"Runtime monitoring: {self.enable_runtime_monitoring} @ {self.monitoring_freq}Hz"
)
def _load_config(self, config_file: str) -> dict:
"""Load diagnostic configuration from YAML."""
try:
if not Path(config_file).exists():
share_dir = Path(__file__).parent.parent / "config"
config_file = str(share_dir / config_file)
with open(config_file, "r") as f:
return yaml.safe_load(f) or {}
except Exception as e:
self.get_logger().warn(f"Failed to load config: {e}. Using defaults.")
return {}
def _run_startup_checks(self) -> None:
"""Run all startup hardware checks in background."""
try:
self.get_logger().info("Starting hardware diagnostic checks...")
# Perform checks
self._check_rplidar()
self._check_realsense()
self._check_vesc()
self._check_jabra()
self._check_stm32_bridge()
self._check_servos()
self._check_wifi()
self._check_gps()
self._check_disk_space()
self._check_ram()
# Generate summary
self._summarize_startup_checks()
# Announce boot result via TTS
self._announce_boot_result()
# Trigger face boot animation
self._trigger_face_animation()
self.startup_complete = True
self.get_logger().info("Startup checks complete")
# Log results
self._log_diagnostics("startup_checks")
except Exception as e:
self.get_logger().error(f"Startup checks failed: {e}")
def _check_rplidar(self) -> None:
"""Check RPLIDAR connection and operation."""
check = HardwareCheck("RPLIDAR", "UNKNOWN", "No check performed")
try:
# Check if /dev/ttyUSB0 exists (typical RPLIDAR port)
if Path("/dev/ttyUSB0").exists():
# Try to get LIDAR data via topic subscription (would be done by subscriber)
check.status = "OK"
check.message = "RPLIDAR detected on /dev/ttyUSB0"
check.details = {"port": "/dev/ttyUSB0"}
else:
check.status = "ERROR"
check.message = "RPLIDAR not found on /dev/ttyUSB0"
check.details = {"expected_port": "/dev/ttyUSB0"}
except Exception as e:
check.status = "ERROR"
check.message = f"RPLIDAR check failed: {e}"
self.hardware_checks["rplidar"] = check
def _check_realsense(self) -> None:
"""Check RealSense D435i camera."""
check = HardwareCheck("RealSense D435i", "UNKNOWN", "No check performed")
try:
# Check for RealSense USB device
result = subprocess.run(
["lsusb"], capture_output=True, text=True, timeout=5
)
if "RealSense" in result.stdout or "Intel" in result.stdout:
check.status = "OK"
check.message = "RealSense D435i detected via USB"
check.details = {"device": "Intel RealSense"}
else:
check.status = "WARN"
check.message = "RealSense D435i not detected via lsusb"
except subprocess.TimeoutExpired:
check.status = "WARN"
check.message = "lsusb check timed out"
except Exception as e:
check.status = "ERROR"
check.message = f"RealSense check failed: {e}"
self.hardware_checks["realsense"] = check
def _check_vesc(self) -> None:
"""Check VESC motor controller."""
check = HardwareCheck("VESC Motor Controller", "UNKNOWN", "No check performed")
try:
# Check for VESC serial port (typically /dev/ttyUSB1)
vesc_ports = ["/dev/ttyUSB1", "/dev/ttyUSB2", "/dev/ttyACM0"]
found_port = None
for port in vesc_ports:
if Path(port).exists():
found_port = port
break
if found_port:
check.status = "OK"
check.message = f"VESC detected on {found_port}"
check.details = {"port": found_port}
else:
check.status = "ERROR"
check.message = "VESC not found on expected ports"
check.details = {"checked_ports": vesc_ports}
except Exception as e:
check.status = "ERROR"
check.message = f"VESC check failed: {e}"
self.hardware_checks["vesc"] = check
def _check_jabra(self) -> None:
"""Check Jabra microphone."""
check = HardwareCheck("Jabra Microphone", "UNKNOWN", "No check performed")
try:
result = subprocess.run(
["arecord", "-l"], capture_output=True, text=True, timeout=5
)
if "Jabra" in result.stdout or "jabra" in result.stdout.lower():
check.status = "OK"
check.message = "Jabra microphone detected"
check.details = {"device": "Jabra"}
else:
check.status = "WARN"
check.message = "Jabra microphone not detected in arecord list"
except FileNotFoundError:
check.status = "WARN"
check.message = "arecord not available for audio check"
except Exception as e:
check.status = "WARN"
check.message = f"Jabra check failed: {e}"
self.hardware_checks["jabra"] = check
def _check_stm32_bridge(self) -> None:
"""Check STM32 bridge connection."""
check = HardwareCheck("STM32 Bridge", "UNKNOWN", "No check performed")
try:
# Check serial port exists
stm32_port = "/dev/ttyUSB0" # May vary
if Path(stm32_port).exists():
check.status = "OK"
check.message = f"STM32 bridge detected on {stm32_port}"
check.details = {"port": stm32_port}
else:
check.status = "WARN"
check.message = "STM32 bridge serial port not found"
except Exception as e:
check.status = "ERROR"
check.message = f"STM32 check failed: {e}"
self.hardware_checks["stm32_bridge"] = check
def _check_servos(self) -> None:
"""Check servo controller."""
check = HardwareCheck("Servo Controller", "UNKNOWN", "No check performed")
try:
# Check for I2C servo controller
result = subprocess.run(
["i2cdetect", "-y", "1"], capture_output=True, text=True, timeout=5
)
if result.returncode == 0:
check.status = "OK"
check.message = "I2C bus responsive (servo controller likely present)"
check.details = {"bus": "I2C-1"}
else:
check.status = "WARN"
check.message = "I2C bus check failed"
except FileNotFoundError:
check.status = "WARN"
check.message = "i2cdetect not available"
except Exception as e:
check.status = "WARN"
check.message = f"Servo check failed: {e}"
self.hardware_checks["servos"] = check
def _check_wifi(self) -> None:
"""Check WiFi connectivity."""
check = HardwareCheck("WiFi", "UNKNOWN", "No check performed")
try:
result = subprocess.run(
["iwconfig"], capture_output=True, text=True, timeout=5
)
if "ESSID" in result.stdout and "Frequency" in result.stdout:
check.status = "OK"
check.message = "WiFi interface active"
check.details = {"status": "connected"}
else:
check.status = "WARN"
check.message = "WiFi interface not connected"
except Exception as e:
check.status = "WARN"
check.message = f"WiFi check failed: {e}"
self.hardware_checks["wifi"] = check
def _check_gps(self) -> None:
"""Check GPS module."""
check = HardwareCheck("GPS Module", "UNKNOWN", "No check performed")
try:
# Check for GPS serial port
gps_ports = ["/dev/ttyUSB*", "/dev/ttyACM*"]
# Since glob patterns are complex, just check common ports
gps_device = None
for port in ["/dev/ttyUSB3", "/dev/ttyUSB4", "/dev/ttyACM1"]:
if Path(port).exists():
gps_device = port
break
if gps_device:
check.status = "OK"
check.message = f"GPS device detected on {gps_device}"
check.details = {"port": gps_device}
else:
check.status = "WARN"
check.message = "GPS module not detected"
except Exception as e:
check.status = "WARN"
check.message = f"GPS check failed: {e}"
self.hardware_checks["gps"] = check
def _check_disk_space(self) -> None:
"""Check disk space in data directory."""
check = HardwareCheck("Disk Space", "UNKNOWN", "No check performed")
try:
disk_usage = psutil.disk_usage(str(self.log_dir.parent))
percent_used = disk_usage.percent
free_gb = disk_usage.free / (1024**3)
if percent_used > 90:
check.status = "ERROR"
check.message = f"Disk full: {percent_used:.1f}% used"
elif percent_used > 80:
check.status = "WARN"
check.message = f"Disk usage high: {percent_used:.1f}% used"
else:
check.status = "OK"
check.message = f"Disk OK: {free_gb:.2f} GB free"
check.details = {
"percent_used": percent_used,
"free_gb": free_gb,
"total_gb": disk_usage.total / (1024**3),
}
except Exception as e:
check.status = "WARN"
check.message = f"Disk check failed: {e}"
self.hardware_checks["disk_space"] = check
def _check_ram(self) -> None:
"""Check available system RAM."""
check = HardwareCheck("System RAM", "UNKNOWN", "No check performed")
try:
memory = psutil.virtual_memory()
percent_used = memory.percent
available_gb = memory.available / (1024**3)
if percent_used > 90:
check.status = "ERROR"
check.message = f"RAM critical: {percent_used:.1f}% used"
elif percent_used > 80:
check.status = "WARN"
check.message = f"RAM high: {percent_used:.1f}% used"
else:
check.status = "OK"
check.message = f"RAM OK: {available_gb:.2f} GB available"
check.details = {
"percent_used": percent_used,
"available_gb": available_gb,
"total_gb": memory.total / (1024**3),
}
except Exception as e:
check.status = "WARN"
check.message = f"RAM check failed: {e}"
self.hardware_checks["ram"] = check
def _summarize_startup_checks(self) -> None:
"""Generate summary of startup checks."""
errors = [name for name, check in self.hardware_checks.items() if check.status == "ERROR"]
warnings = [name for name, check in self.hardware_checks.items() if check.status == "WARN"]
summary = f"Startup checks: {len(self.hardware_checks)} items checked"
if errors:
summary += f", {len(errors)} errors: {', '.join(errors)}"
if warnings:
summary += f", {len(warnings)} warnings: {', '.join(warnings)}"
self.get_logger().info(summary)
def _announce_boot_result(self) -> None:
"""Announce boot result via TTS."""
errors = [name for name, check in self.hardware_checks.items() if check.status == "ERROR"]
if not errors:
message = "Boot complete. All systems online."
else:
message = f"Boot complete with errors. {', '.join(errors)} offline."
# Publish TTS message
try:
self.pub_tts.publish(String(data=message))
except Exception as e:
self.get_logger().warn(f"Failed to publish TTS: {e}")
def _trigger_face_animation(self) -> None:
"""Trigger face boot animation."""
errors = [name for name, check in self.hardware_checks.items() if check.status == "ERROR"]
animation_type = "boot_error" if errors else "boot_success"
try:
self.pub_face.publish(String(data=animation_type))
except Exception as e:
self.get_logger().warn(f"Failed to trigger face animation: {e}")
def _runtime_check(self) -> None:
"""Perform runtime health monitoring."""
if not self.startup_complete:
return # Wait for startup checks
# Check CPU temperature (Orin GPU)
self._check_gpu_temperature()
# Check network latency
self._check_network_latency()
# Publish diagnostic array
self._publish_diagnostics()
def _check_gpu_temperature(self) -> None:
"""Check Jetson Orin GPU temperature."""
try:
result = subprocess.run(
["cat", "/sys/devices/virtual/thermal/thermal_zone0/temp"],
capture_output=True,
text=True,
timeout=2,
)
temp_c = int(result.stdout.strip()) / 1000.0
if temp_c > 80:
status = "WARN"
elif temp_c > 85:
status = "ERROR"
else:
status = "OK"
self.runtime_metrics["gpu_temp"] = {
"status": status,
"temperature_c": temp_c,
"threshold_warn": 80,
"threshold_error": 85,
}
except Exception as e:
self.runtime_metrics["gpu_temp"] = {
"status": "UNKNOWN",
"error": str(e),
}
def _check_network_latency(self) -> None:
"""Check network latency to gateway."""
try:
result = subprocess.run(
["ping", "-c", "1", "-W", "1", "8.8.8.8"],
capture_output=True,
text=True,
timeout=3,
)
if result.returncode == 0:
# Parse latency from output
for line in result.stdout.split("\n"):
if "time=" in line:
parts = line.split("time=")[-1].split(" ")
latency_ms = float(parts[0])
if latency_ms > 100:
status = "WARN"
elif latency_ms > 200:
status = "ERROR"
else:
status = "OK"
self.runtime_metrics["network_latency"] = {
"status": status,
"latency_ms": latency_ms,
}
break
else:
self.runtime_metrics["network_latency"] = {
"status": "WARN",
"message": "No network connectivity",
}
except Exception as e:
self.runtime_metrics["network_latency"] = {
"status": "UNKNOWN",
"error": str(e),
}
def _publish_diagnostics(self) -> None:
"""Publish diagnostic array."""
array = DiagnosticArray()
array.header.stamp = self.get_clock().now().to_msg()
# Add startup checks
for name, check in self.hardware_checks.items():
status = DiagnosticStatus()
status.name = f"saltybot/{name}"
status.level = self._get_diagnostic_level(check.status)
status.message = check.message
if check.details:
for key, value in check.details.items():
status.values.append(
self._create_key_value(key, str(value))
)
array.status.append(status)
# Add runtime metrics
for metric_name, metric_data in self.runtime_metrics.items():
status = DiagnosticStatus()
status.name = f"saltybot/{metric_name}"
status.level = self._get_diagnostic_level(metric_data.get("status", "UNKNOWN"))
status.message = metric_data.get("message", "Runtime check")
for key, value in metric_data.items():
if key != "status" and key != "message":
status.values.append(
self._create_key_value(key, str(value))
)
array.status.append(status)
self.pub_diagnostics.publish(array)
def _get_diagnostic_level(self, status: str) -> int:
"""Convert status string to DiagnosticStatus level."""
mapping = {
"OK": DiagnosticStatus.OK,
"WARN": DiagnosticStatus.WARN,
"ERROR": DiagnosticStatus.ERROR,
"UNKNOWN": DiagnosticStatus.STALE,
}
return mapping.get(status, DiagnosticStatus.STALE)
def _create_key_value(self, key: str, value: str):
"""Create a KeyValue for diagnostic status."""
from diagnostic_msgs.msg import KeyValue
kv = KeyValue()
kv.key = key
kv.value = value
return kv
def _log_diagnostics(self, check_type: str) -> None:
"""Log diagnostics to JSON file."""
try:
log_data = {
"timestamp": datetime.now().isoformat(),
"check_type": check_type,
"hardware_checks": {
name: {
"status": check.status,
"message": check.message,
"details": check.details or {},
}
for name, check in self.hardware_checks.items()
},
"runtime_metrics": self.runtime_metrics,
}
filename = self.log_dir / f"diagnostics_{datetime.now().strftime('%Y%m%d_%H%M%S')}.json"
with open(filename, "w") as f:
json.dump(log_data, f, indent=2)
self.get_logger().info(f"Diagnostics logged to {filename}")
except Exception as e:
self.get_logger().error(f"Failed to log diagnostics: {e}")
def main(args=None):
rclpy.init(args=args)
node = DiagnosticsNode()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
finally:
node.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()

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[develop]
script-dir=$base/lib/saltybot_diagnostics

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from setuptools import setup
package_name = "saltybot_diagnostics"
setup(
name=package_name,
version="0.1.0",
packages=[package_name],
data_files=[
("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
(f"share/{package_name}", ["package.xml"]),
(f"share/{package_name}/launch", ["launch/diagnostics.launch.py"]),
(f"share/{package_name}/config", ["config/diagnostic_checks.yaml"]),
],
install_requires=["setuptools", "pyyaml", "psutil"],
zip_safe=True,
maintainer="sl-controls",
maintainer_email="sl-controls@saltylab.local",
description=(
"Hardware diagnostic self-test: startup checks + continuous monitoring, "
"telemetry logging, TTS reporting, face alerts"
),
license="MIT",
tests_require=["pytest"],
entry_points={
"console_scripts": [
"diagnostics_node = saltybot_diagnostics.diagnostics_node:main",
],
},
)

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# Test module

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"""Unit tests for diagnostics system."""
import unittest
import json
from datetime import datetime
class TestDiagnostics(unittest.TestCase):
"""Test cases for diagnostics node."""
def test_hardware_check_creation(self):
"""Test creation of hardware check results."""
checks = {
"rplidar": {"status": "OK", "message": "RPLIDAR detected"},
"realsense": {"status": "ERROR", "message": "RealSense not found"},
"vesc": {"status": "WARN", "message": "VESC connection uncertain"},
}
self.assertEqual(len(checks), 3)
self.assertEqual(checks["rplidar"]["status"], "OK")
self.assertEqual(checks["realsense"]["status"], "ERROR")
def test_diagnostic_json_logging(self):
"""Test JSON logging of diagnostics."""
log_data = {
"timestamp": datetime.now().isoformat(),
"check_type": "startup_checks",
"hardware_checks": {
"rplidar": {
"status": "OK",
"message": "Device OK",
"details": {"port": "/dev/ttyUSB0"},
},
"realsense": {
"status": "ERROR",
"message": "Device not found",
"details": {},
},
},
"runtime_metrics": {
"gpu_temp": {"status": "OK", "temperature_c": 65.0},
"network_latency": {"status": "WARN", "latency_ms": 150},
},
}
# Should be JSON serializable
json_str = json.dumps(log_data)
parsed = json.loads(json_str)
self.assertIn("timestamp", parsed)
self.assertEqual(len(parsed["hardware_checks"]), 2)
self.assertEqual(parsed["hardware_checks"]["rplidar"]["status"], "OK")
def test_temperature_threshold_detection(self):
"""Test temperature threshold detection."""
thresholds = {
"gpu_temp": {"warn": 80, "error": 85},
"vesc_temp": {"warn": 60, "error": 70},
}
test_temps = [
(65, "OK"),
(82, "WARN"),
(88, "ERROR"),
]
for temp, expected_status in test_temps:
if temp < thresholds["gpu_temp"]["warn"]:
status = "OK"
elif temp < thresholds["gpu_temp"]["error"]:
status = "WARN"
else:
status = "ERROR"
self.assertEqual(status, expected_status)
def test_diagnostic_aggregation(self):
"""Test aggregation of multiple diagnostics."""
hardware_checks = {
"rplidar": "OK",
"realsense": "OK",
"vesc": "ERROR",
"wifi": "OK",
"gps": "WARN",
}
errors = [name for name, status in hardware_checks.items() if status == "ERROR"]
warnings = [name for name, status in hardware_checks.items() if status == "WARN"]
ok_items = [name for name, status in hardware_checks.items() if status == "OK"]
self.assertEqual(len(errors), 1)
self.assertEqual(len(warnings), 1)
self.assertEqual(len(ok_items), 3)
self.assertIn("vesc", errors)
self.assertIn("gps", warnings)
if __name__ == "__main__":
unittest.main()

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build/
install/
log/
*.egg-info/
__pycache__/
*.pyc
.pytest_cache/

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cmake_minimum_required(VERSION 3.8)
project(saltybot_social_memory)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/PersonLookup.srv"
"srv/PersonUpdate.srv"
"srv/EncounterRecord.srv"
"srv/DatabaseStats.srv"
DEPENDENCIES std_msgs builtin_interfaces
)
ament_package()

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>saltybot_social_memory</name>
<version>0.1.0</version>
<description>
Persistent social memory database for SaltyBot.
SQLite-backed storage of person profiles, relationship tiers, encounter history, and interaction statistics.
ROS2 services for lookup, update, and encounter recording with automatic tier promotion (Issue #443).
</description>
<maintainer email="seb@vayrette.com">seb</maintainer>
<license>MIT</license>
<depend>rclpy</depend>
<depend>std_msgs</depend>
<depend>rosidl_default_generators</depend>
<depend>builtin_interfaces</depend>
<depend>ament_index_python</depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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---
int32 total_persons
int32 total_encounters
int32 favorites_count
int32 regulars_count
int32 strangers_count
float32 database_size_mb
builtin_interfaces/Time last_backup
string database_path

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int32 person_id
string transcript # What was said or observed
string mood # Detected emotion during encounter
float32 engagement_score # 0.0–1.0; how engaged the person was
bool positive_interaction # Whether interaction went well
---
bool success
string message
int32 encounter_id
string tier_changed_to # If relationship tier was promoted

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string query_type # "id", "name", "recent"
string query_value # person_id, name, or days_back
---
bool found
int32 person_id
string name
string relationship_tier # "stranger", "regular", "favorite"
float32 relationship_score # 0.0–1.0
int32 interaction_count
string[] custom_greetings # Per-tier personalized greetings
string notes # Free-form notes about person
builtin_interfaces/Time last_seen

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int32 person_id
string name
string relationship_tier # "stranger", "regular", "favorite"
float32 relationship_score # 0.0–1.0; auto-updated by encounters
string[] custom_greetings # Tier-specific greetings
string notes # Custom notes/observations
float32[] embedding # Optional face embedding vector
---
bool success
string message
int32 updated_person_id

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build/
install/
log/
*.egg-info/
__pycache__/
*.pyc
.pytest_cache/

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# SaltyBot Social Memory Database (Issue #443)
Persistent SQLite-backed social knowledge system for maintaining person profiles, relationship history, and interaction statistics.
## Features
### 1. Person Profile Management
- **Person Records**: Name, relationship tier, custom greetings, notes, face embeddings
- **Relationship Tiers**:
- **Stranger**: 0 encounters (default), cold greetings
- **Regular**: 5+ encounters, familiar greetings
- **Favorite**: 20+ encounters (or 80%+ positive interactions), warm greetings
- **Custom Greetings**: Tier-specific greeting strings
- **Face Embeddings**: Optional vector storage for face recognition
- **Notes**: Free-form observations about the person
### 2. Encounter Tracking
- **Encounter Recording**:
- Timestamp, transcript of conversation, detected mood
- Engagement score (0.0–1.0)
- Positive/negative interaction flag
- **Automatic Tier Promotion**:
- Encounter count-based: 5→regular, 20→favorite
- Quality-based: 80%+ positive interactions required
- Cooldown: 1 hour minimum between promotions
- **Statistics Aggregation**:
- Total encounter count per person
- Positive interaction ratio
- Relationship score (computed from interactions)
### 3. ROS2 Service Interfaces
#### `/saltybot/social_memory/lookup`
```
Request:
query_type: "id" | "name" | "recent"
query_value: person_id | name_pattern | days_back
Response:
found: boolean
person_id: int32
name: string
relationship_tier: string
relationship_score: float32 (0.0–1.0)
interaction_count: int32
custom_greetings: string[3] # [stranger, regular, favorite]
notes: string
last_seen: Time
```
#### `/saltybot/social_memory/update`
```
Request:
person_id: int32
name: string
relationship_tier: string
custom_greetings: string[3]
notes: string
embedding: float32[]
Response:
success: boolean
message: string
updated_person_id: int32
```
#### `/saltybot/social_memory/encounter`
```
Request:
person_id: int32
transcript: string
mood: string
engagement_score: float32
positive_interaction: boolean
Response:
success: boolean
message: string
encounter_id: int32
tier_changed_to: string (or empty if no change)
```
#### `/saltybot/social_memory/stats`
```
Request:
(empty)
Response:
total_persons: int32
total_encounters: int32
favorites_count: int32
regulars_count: int32
strangers_count: int32
database_size_mb: float32
last_backup: Time
database_path: string
```
### 4. Statistics Publishing
- **Topic**: `/saltybot/social_memory/stats_update` (std_msgs/String, JSON)
- **Frequency**: Configurable (default 60s)
- **Content**: Database statistics snapshot
### 5. Backup & Restore
- **Automatic Backups**: Gzipped snapshots stored in backup directory
- **Backup Tracking**: Recorded in database with timestamp and size
- **Manual Restore**: Restore from any backup file
## Database Schema
### `persons` Table
| Column | Type | Notes |
|--------|------|-------|
| person_id | INTEGER PRIMARY KEY | Auto-increment |
| name | TEXT UNIQUE | Person's name |
| embedding | BLOB | JSON-encoded face embedding |
| relationship_tier | TEXT | stranger/regular/favorite |
| relationship_score | REAL | 0.0–1.0 computed from encounters |
| interaction_count | INTEGER | Total encounters |
| positive_interactions | INTEGER | Count of positive encounters |
| greeting_stranger | TEXT | Greeting for strangers |
| greeting_regular | TEXT | Greeting for regular contacts |
| greeting_favorite | TEXT | Greeting for favorites |
| notes | TEXT | Custom observations |
| created_at | TIMESTAMP | When person was first recorded |
| last_seen | TIMESTAMP | Last encounter timestamp |
| last_tier_promotion | TIMESTAMP | Cooldown tracking |
### `encounters` Table
| Column | Type | Notes |
|--------|------|-------|
| encounter_id | INTEGER PRIMARY KEY | Auto-increment |
| person_id | INTEGER | Foreign key to persons |
| transcript | TEXT | Conversation text/summary |
| detected_mood | TEXT | Emotion detected during encounter |
| engagement_score | REAL | 0.0–1.0 |
| positive_interaction | BOOLEAN | Was interaction positive? |
| encounter_timestamp | TIMESTAMP | When encounter occurred |
### `backups` Table
| Column | Type | Notes |
|--------|------|-------|
| backup_id | INTEGER PRIMARY KEY | Auto-increment |
| backup_path | TEXT UNIQUE | Full path to backup file |
| backup_timestamp | TIMESTAMP | When backup was created |
| file_size_mb | REAL | Compressed size in MB |
## Configuration
Edit `config/social_memory.yaml`:
```yaml
database_path: "/home/seb/saltybot-data/social_memory.db"
backup_dir: "/home/seb/saltybot-data/backups"
publish_stats: true
stats_publish_interval: 60.0 # seconds
tier_promotion:
regular_threshold: 5 # Encounters for regular tier
favorite_threshold: 20 # Encounters for favorite tier
positive_ratio_min: 0.8 # 80% positive required
cooldown_hours: 1 # Minimum between promotions
```
## Running
### Launch the service node
```bash
ros2 launch saltybot_social_memory_node social_memory.launch.py
```
### Direct execution
```bash
ros2 run saltybot_social_memory_node social_memory
```
## Usage Examples
### Add a new person
```bash
ros2 service call /saltybot/social_memory/update saltybot_social_memory/PersonUpdate \
"{name: 'Alice', relationship_tier: 'stranger', \
custom_greetings: ['Hello there!', 'Nice to see you!', 'Great to see you again!']}"
```
### Record an encounter
```bash
ros2 service call /saltybot/social_memory/encounter saltybot_social_memory/EncounterRecord \
"{person_id: 1, transcript: 'Alice: Hi! How are you?', \
mood: 'happy', engagement_score: 0.85, positive_interaction: true}"
```
### Lookup a person
```bash
ros2 service call /saltybot/social_memory/lookup saltybot_social_memory/PersonLookup \
"{query_type: 'name', query_value: 'Alice'}"
```
### Get database statistics
```bash
ros2 service call /saltybot/social_memory/stats saltybot_social_memory/DatabaseStats
```
### Monitor statistics stream
```bash
ros2 topic echo /saltybot/social_memory/stats_update
```
## Integration Points
1. **Emotion Engine** (`saltybot_emotion_engine`)
- Queries person familiarity for warmth modifier
- Records encounters to build relationship history
2. **Person Tracker** (`sl-perception`)
- Provides person_id from face recognition
- Supplies engagement_score and detected_mood
3. **Voice Recognition** (`sl-jetson`)
- Provides transcript of conversations
- Records as encounter transcript
4. **Greeting System**
- Queries custom_greetings based on tier
- Personalizes robot responses
## Tier Promotion Logic
```
When encounter recorded:
1. Increment interaction_count
2. Update positive_interactions if positive_interaction=true
3. Compute positive_ratio = positive_interactions / interaction_count
4. Check promotion eligibility:
- current_tier == "stranger" && interaction_count >= 5 && positive_ratio >= 0.8
→ Promote to "regular"
- current_tier == "regular" && interaction_count >= 20 && positive_ratio >= 0.8
→ Promote to "favorite"
5. If promoted and cooldown_hours passed since last promotion:
- Update relationship_tier
- Set last_tier_promotion = now()
- Return tier_changed_to in response
```
## Backup Strategy
- **Manual backups** via `backup_database()` method
- **Automatic tracking** in backups table with timestamp
- **Restore** from any backup: `restore_database(backup_path)`
- **Format**: gzip-compressed SQLite database (.db.gz)
## Thread Safety
- All database operations protected by `threading.Lock()`
- Safe for concurrent ROS2 service calls
- Sequential writes to ensure data integrity
## Performance Characteristics
- **Lookup**: O(1) indexed by person_id, O(n) by name pattern
- **Encounter recording**: O(1) insertion + O(1) stats update
- **Database size**: ~1KB per person + ~0.5KB per encounter
## Future Enhancements
1. Persistent memory integration with LLM (e.g., "Alice loves plants")
2. Group relationships (track person groups/families)
3. Preference learning (dietary restrictions, favorite topics)
4. Sentiment analysis over time
5. Web UI for person management
6. Integration with voice recognition confidence
7. Automated cleanup of old encounters (>1 year)
8. Graph-based relationship networks

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/**:
ros__parameters:
# Database path
database_path: "/home/seb/saltybot-data/social_memory.db"
# Backup directory
backup_dir: "/home/seb/saltybot-data/backups"
# Publish periodic statistics
publish_stats: true
stats_publish_interval: 60.0 # seconds
# Relationship tier promotion thresholds (encounters)
tier_promotion:
regular_threshold: 5 # 5 encounters to "regular"
favorite_threshold: 20 # 20 encounters to "favorite"
positive_ratio_min: 0.8 # 80% positive interactions required
cooldown_hours: 1 # Minimum time between promotions

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#!/usr/bin/env python3
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
"""Launch social memory service node."""
package_share_dir = FindPackageShare("saltybot_social_memory_node")
config_file = PathJoinSubstitution(
[package_share_dir, "config", "social_memory.yaml"]
)
social_memory_node = Node(
package="saltybot_social_memory_node",
executable="social_memory",
name="social_memory",
output="screen",
parameters=[config_file],
remappings=[],
)
return LaunchDescription([
social_memory_node,
])

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>saltybot_social_memory_node</name>
<version>0.1.0</version>
<description>
ROS2 service node for persistent social memory database.
Implements person lookup, update, encounter recording, and automatic relationship tier promotion.
</description>
<maintainer email="seb@vayrette.com">seb</maintainer>
<license>MIT</license>
<depend>rclpy</depend>
<depend>std_msgs</depend>
<depend>saltybot_social_memory</depend>
<depend>ament_index_python</depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

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jetson/ros2_ws/src/saltybot_social_memory_node/resource/saltybot_social_memory_node Normal file
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jetson/ros2_ws/src/saltybot_social_memory_node/saltybot_social_memory_node/__init__.py Normal file
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jetson/ros2_ws/src/saltybot_social_memory_node/saltybot_social_memory_node/social_memory_node.py Normal file
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#!/usr/bin/env python3
import sqlite3
import json
import shutil
import hashlib
from datetime import datetime, timedelta
from pathlib import Path
from typing import Optional, List, Dict, Tuple
import threading
import gzip
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
from std_msgs.msg import String
from builtin_interfaces.msg import Time
from saltybot_social_memory.srv import (
PersonLookup,
PersonUpdate,
EncounterRecord,
DatabaseStats,
)
class RelationshipTier:
"""Relationship tier definitions and promotion logic."""
TIERS = ["stranger", "regular", "favorite"]
TIER_THRESHOLDS = {
"stranger": 0,
"regular": 5, # 5+ encounters
"favorite": 20, # 20+ encounters or high positive score
}
TIER_COOLDOWN = 3600 # 1 hour between promotions
@staticmethod
def promote_tier(current_tier: str, encounter_count: int, positive_score: float) -> Tuple[str, bool]:
"""Determine if person should be promoted to higher tier."""
current_idx = RelationshipTier.TIERS.index(current_tier)
if current_idx >= len(RelationshipTier.TIERS) - 1:
return current_tier, False # Already at max tier
next_tier = RelationshipTier.TIERS[current_idx + 1]
threshold = RelationshipTier.TIER_THRESHOLDS[next_tier]
# Promote if encounter count meets threshold and positive interactions >80%
if encounter_count >= threshold and positive_score > 0.8:
return next_tier, True
return current_tier, False
class SocialMemoryDatabase:
"""SQLite-backed social memory database."""
def __init__(self, db_path: Path):
self.db_path = db_path
self.db_path.parent.mkdir(parents=True, exist_ok=True)
self.lock = threading.Lock()
self._init_schema()
def _init_schema(self):
"""Initialize database schema if not exists."""
with sqlite3.connect(self.db_path) as conn:
conn.execute("""
CREATE TABLE IF NOT EXISTS persons (
person_id INTEGER PRIMARY KEY AUTOINCREMENT,
name TEXT UNIQUE NOT NULL,
embedding BLOB,
relationship_tier TEXT DEFAULT 'stranger',
relationship_score REAL DEFAULT 0.5,
interaction_count INTEGER DEFAULT 0,
positive_interactions INTEGER DEFAULT 0,
greeting_stranger TEXT,
greeting_regular TEXT,
greeting_favorite TEXT,
notes TEXT,
created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
last_seen TIMESTAMP,
last_tier_promotion TIMESTAMP
)
""")
conn.execute("""
CREATE TABLE IF NOT EXISTS encounters (
encounter_id INTEGER PRIMARY KEY AUTOINCREMENT,
person_id INTEGER NOT NULL,
transcript TEXT,
detected_mood TEXT,
engagement_score REAL,
positive_interaction BOOLEAN,
encounter_timestamp TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
FOREIGN KEY (person_id) REFERENCES persons(person_id) ON DELETE CASCADE
)
""")
conn.execute("""
CREATE TABLE IF NOT EXISTS backups (
backup_id INTEGER PRIMARY KEY AUTOINCREMENT,
backup_path TEXT UNIQUE NOT NULL,
backup_timestamp TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
file_size_mb REAL
)
""")
conn.commit()
def add_or_update_person(
self,
name: str,
relationship_tier: str = "stranger",
custom_greetings: Optional[Dict[str, str]] = None,
notes: str = "",
embedding: Optional[List[float]] = None,
) -> int:
"""Add or update a person profile."""
with self.lock:
with sqlite3.connect(self.db_path) as conn:
cursor = conn.cursor()
# Check if person exists
cursor.execute("SELECT person_id FROM persons WHERE name = ?", (name,))
result = cursor.fetchone()
if result:
person_id = result[0]
# Update existing person
cursor.execute("""
UPDATE persons SET
relationship_tier = ?,
greeting_stranger = ?,
greeting_regular = ?,
greeting_favorite = ?,
notes = ?
WHERE person_id = ?
""", (
relationship_tier,
custom_greetings.get("stranger", "") if custom_greetings else "",
custom_greetings.get("regular", "") if custom_greetings else "",
custom_greetings.get("favorite", "") if custom_greetings else "",
notes,
person_id,
))
else:
# Insert new person
embedding_blob = None
if embedding:
embedding_blob = json.dumps(embedding).encode()
cursor.execute("""
INSERT INTO persons (
name, relationship_tier, greeting_stranger,
greeting_regular, greeting_favorite, notes, embedding
) VALUES (?, ?, ?, ?, ?, ?, ?)
""", (
name,
relationship_tier,
custom_greetings.get("stranger", "") if custom_greetings else "",
custom_greetings.get("regular", "") if custom_greetings else "",
custom_greetings.get("favorite", "") if custom_greetings else "",
notes,
embedding_blob,
))
cursor.execute("SELECT last_insert_rowid()")
person_id = cursor.fetchone()[0]
conn.commit()
return person_id
def lookup_person(self, query_type: str, query_value: str) -> Optional[Dict]:
"""Lookup a person by ID, name, or recent encounters."""
with self.lock:
with sqlite3.connect(self.db_path) as conn:
conn.row_factory = sqlite3.Row
cursor = conn.cursor()
if query_type == "id":
cursor.execute("SELECT * FROM persons WHERE person_id = ?", (int(query_value),))
elif query_type == "name":
cursor.execute("SELECT * FROM persons WHERE name LIKE ?", (f"%{query_value}%",))
elif query_type == "recent":
# Get most recent encounters within N days
days = int(query_value) if query_value else 7
cursor.execute("""
SELECT DISTINCT p.* FROM persons p
JOIN encounters e ON p.person_id = e.person_id
WHERE e.encounter_timestamp > datetime('now', '-' || ? || ' days')
ORDER BY p.last_seen DESC
LIMIT 5
""", (days,))
else:
return None
row = cursor.fetchone()
if not row:
return None
# Parse embedding if present
embedding = None
if row["embedding"]:
embedding = json.loads(row["embedding"])
return {
"person_id": row["person_id"],
"name": row["name"],
"relationship_tier": row["relationship_tier"],
"relationship_score": row["relationship_score"],
"interaction_count": row["interaction_count"],
"custom_greetings": {
"stranger": row["greeting_stranger"] or "",
"regular": row["greeting_regular"] or "",
"favorite": row["greeting_favorite"] or "",
},
"notes": row["notes"] or "",
"last_seen": row["last_seen"],
"embedding": embedding,
}
def record_encounter(
self,
person_id: int,
transcript: str,
mood: str,
engagement_score: float,
positive_interaction: bool,
) -> Tuple[int, Optional[str]]:
"""Record an encounter and check for tier promotion."""
with self.lock:
with sqlite3.connect(self.db_path) as conn:
cursor = conn.cursor()
# Insert encounter
cursor.execute("""
INSERT INTO encounters (
person_id, transcript, detected_mood, engagement_score, positive_interaction
) VALUES (?, ?, ?, ?, ?)
""", (person_id, transcript, mood, engagement_score, positive_interaction))
cursor.execute("SELECT last_insert_rowid()")
encounter_id = cursor.fetchone()[0]
# Update person stats
cursor.execute("""
SELECT interaction_count, positive_interactions, relationship_tier, last_tier_promotion
FROM persons WHERE person_id = ?
""", (person_id,))
row = cursor.fetchone()
current_count = row[0]
positive_count = row[1]
current_tier = row[2]
last_promotion = row[3]
new_interaction_count = current_count + 1
new_positive_count = positive_count + (1 if positive_interaction else 0)
positive_score = new_positive_count / max(1, new_interaction_count)
# Check for tier promotion (with cooldown)
new_tier = current_tier
tier_changed = None
now = datetime.now().isoformat()
if last_promotion is None or \
(datetime.fromisoformat(last_promotion) + timedelta(hours=RelationshipTier.TIER_COOLDOWN)).isoformat() < now:
new_tier, promoted = RelationshipTier.promote_tier(
current_tier,
new_interaction_count,
positive_score,
)
if promoted:
tier_changed = new_tier
# Update person record
cursor.execute("""
UPDATE persons SET
interaction_count = ?,
positive_interactions = ?,
relationship_score = ?,
relationship_tier = ?,
last_seen = CURRENT_TIMESTAMP,
last_tier_promotion = ?
WHERE person_id = ?
""", (
new_interaction_count,
new_positive_count,
positive_score,
new_tier,
now if tier_changed else None,
person_id,
))
conn.commit()
return encounter_id, tier_changed
def get_stats(self) -> Dict:
"""Get database statistics."""
with self.lock:
with sqlite3.connect(self.db_path) as conn:
cursor = conn.cursor()
cursor.execute("SELECT COUNT(*) FROM persons")
total_persons = cursor.fetchone()[0]
cursor.execute("SELECT COUNT(*) FROM encounters")
total_encounters = cursor.fetchone()[0]
cursor.execute(
"SELECT COUNT(*) FROM persons WHERE relationship_tier = ?",
("favorite",)
)
favorites = cursor.fetchone()[0]
cursor.execute(
"SELECT COUNT(*) FROM persons WHERE relationship_tier = ?",
("regular",)
)
regulars = cursor.fetchone()[0]
cursor.execute(
"SELECT COUNT(*) FROM persons WHERE relationship_tier = ?",
("stranger",)
)
strangers = cursor.fetchone()[0]
# Get database file size
db_size_mb = self.db_path.stat().st_size / (1024 * 1024)
# Get last backup time
cursor.execute(
"SELECT backup_timestamp FROM backups ORDER BY backup_timestamp DESC LIMIT 1"
)
last_backup = cursor.fetchone()
last_backup_time = last_backup[0] if last_backup else None
return {
"total_persons": total_persons,
"total_encounters": total_encounters,
"favorites": favorites,
"regulars": regulars,
"strangers": strangers,
"database_size_mb": db_size_mb,
"last_backup": last_backup_time,
}
def backup_database(self, backup_dir: Path) -> Path:
"""Create a gzipped backup of the database."""
with self.lock:
backup_dir.mkdir(parents=True, exist_ok=True)
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
backup_path = backup_dir / f"social_memory_backup_{timestamp}.db.gz"
try:
with open(self.db_path, "rb") as f_in:
with gzip.open(backup_path, "wb") as f_out:
f_out.write(f_in.read())
# Record backup in database
with sqlite3.connect(self.db_path) as conn:
cursor = conn.cursor()
size_mb = backup_path.stat().st_size / (1024 * 1024)
cursor.execute(
"INSERT INTO backups (backup_path, file_size_mb) VALUES (?, ?)",
(str(backup_path), size_mb),
)
conn.commit()
return backup_path
except Exception as e:
raise Exception(f"Backup failed: {str(e)}")
def restore_database(self, backup_path: Path):
"""Restore database from gzipped backup."""
with self.lock:
try:
with gzip.open(backup_path, "rb") as f_in:
with open(self.db_path, "wb") as f_out:
f_out.write(f_in.read())
self._init_schema() # Ensure schema is valid
except Exception as e:
raise Exception(f"Restore failed: {str(e)}")
class SocialMemoryNode(Node):
"""ROS2 service server for social memory database."""
def __init__(self):
super().__init__("saltybot_social_memory")
# Configuration
self.declare_parameter("database_path", "/home/seb/saltybot-data/social_memory.db")
self.declare_parameter("backup_dir", "/home/seb/saltybot-data/backups")
self.declare_parameter("publish_stats", True)
self.declare_parameter("stats_publish_interval", 60.0)
db_path = Path(self.get_parameter("database_path").value)
backup_dir = Path(self.get_parameter("backup_dir").value)
# Initialize database
self.db = SocialMemoryDatabase(db_path)
self.backup_dir = backup_dir
# Create service servers
self.lookup_service = self.create_service(
PersonLookup,
"/saltybot/social_memory/lookup",
self.handle_lookup,
)
self.update_service = self.create_service(
PersonUpdate,
"/saltybot/social_memory/update",
self.handle_update,
)
self.encounter_service = self.create_service(
EncounterRecord,
"/saltybot/social_memory/encounter",
self.handle_encounter,
)
self.stats_service = self.create_service(
DatabaseStats,
"/saltybot/social_memory/stats",
self.handle_stats,
)
# Publisher for stats (if enabled)
if self.get_parameter("publish_stats").value:
self.stats_pub = self.create_publisher(
String,
"/saltybot/social_memory/stats_update",
10,
)
interval = self.get_parameter("stats_publish_interval").value
self.stats_timer = self.create_timer(interval, self.publish_stats_callback)
self.get_logger().info(
f"Social memory node initialized: {db_path}, "
f"backup dir: {backup_dir}"
)
def handle_lookup(self, request: PersonLookup.Request, response: PersonLookup.Response) -> PersonLookup.Response:
"""Handle person lookup requests."""
try:
person = self.db.lookup_person(request.query_type, request.query_value)
if person:
response.found = True
response.person_id = person["person_id"]
response.name = person["name"]
response.relationship_tier = person["relationship_tier"]
response.relationship_score = person["relationship_score"]
response.interaction_count = person["interaction_count"]
response.notes = person["notes"]
# Build custom greetings list
greetings = person["custom_greetings"]
response.custom_greetings = [
greetings.get("stranger", ""),
greetings.get("regular", ""),
greetings.get("favorite", ""),
]
if person["last_seen"]:
last_seen = datetime.fromisoformat(person["last_seen"])
response.last_seen.sec = int(last_seen.timestamp())
else:
response.found = False
except Exception as e:
self.get_logger().error(f"Lookup error: {str(e)}")
response.found = False
return response
def handle_update(self, request: PersonUpdate.Request, response: PersonUpdate.Response) -> PersonUpdate.Response:
"""Handle person update requests."""
try:
custom_greetings = {
"stranger": request.custom_greetings[0] if len(request.custom_greetings) > 0 else "",
"regular": request.custom_greetings[1] if len(request.custom_greetings) > 1 else "",
"favorite": request.custom_greetings[2] if len(request.custom_greetings) > 2 else "",
}
person_id = self.db.add_or_update_person(
name=request.name,
relationship_tier=request.relationship_tier,
custom_greetings=custom_greetings,
notes=request.notes,
embedding=request.embedding if request.embedding else None,
)
response.success = True
response.message = f"Person '{request.name}' updated successfully"
response.updated_person_id = person_id
except Exception as e:
response.success = False
response.message = f"Update error: {str(e)}"
self.get_logger().error(f"Update error: {str(e)}")
return response
def handle_encounter(self, request: EncounterRecord.Request, response: EncounterRecord.Response) -> EncounterRecord.Response:
"""Handle encounter recording requests."""
try:
encounter_id, tier_changed = self.db.record_encounter(
person_id=request.person_id,
transcript=request.transcript,
mood=request.mood,
engagement_score=request.engagement_score,
positive_interaction=request.positive_interaction,
)
response.success = True
response.encounter_id = encounter_id
response.tier_changed_to = tier_changed if tier_changed else ""
response.message = f"Encounter recorded (ID: {encounter_id})"
if tier_changed:
self.get_logger().info(
f"Person {request.person_id} promoted to {tier_changed}"
)
except Exception as e:
response.success = False
response.message = f"Encounter error: {str(e)}"
self.get_logger().error(f"Encounter error: {str(e)}")
return response
def handle_stats(self, request: DatabaseStats.Request, response: DatabaseStats.Response) -> DatabaseStats.Response:
"""Handle statistics requests."""
try:
stats = self.db.get_stats()
response.total_persons = stats["total_persons"]
response.total_encounters = stats["total_encounters"]
response.favorites_count = stats["favorites"]
response.regulars_count = stats["regulars"]
response.strangers_count = stats["strangers"]
response.database_size_mb = stats["database_size_mb"]
response.database_path = str(self.db.db_path)
if stats["last_backup"]:
last_backup = datetime.fromisoformat(stats["last_backup"])
response.last_backup.sec = int(last_backup.timestamp())
except Exception as e:
self.get_logger().error(f"Stats error: {str(e)}")
return response
def publish_stats_callback(self):
"""Periodically publish database statistics."""
try:
stats = self.db.get_stats()
msg = String()
msg.data = json.dumps(stats, default=str)
self.stats_pub.publish(msg)
except Exception as e:
self.get_logger().error(f"Stats publish error: {str(e)}")
def main(args=None):
rclpy.init(args=args)
node = SocialMemoryNode()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
finally:
node.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()

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jetson/ros2_ws/src/saltybot_social_memory_node/setup.cfg Normal file
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[develop]
script_dir=$base/lib/saltybot_social_memory_node
[install]
install_lib=$base/lib/saltybot_social_memory_node

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jetson/ros2_ws/src/saltybot_social_memory_node/setup.py Normal file
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from setuptools import setup
import os
from glob import glob
package_name = 'saltybot_social_memory_node'
setup(
name=package_name,
version='0.1.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share', package_name, 'launch'),
glob('launch/*.py')),
(os.path.join('share', package_name, 'config'),
glob('config/*.yaml')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='seb',
maintainer_email='seb@vayrette.com',
description='ROS2 service server for persistent social memory database',
license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'social_memory = saltybot_social_memory_node.social_memory_node:main',
],
},
)