feat: MageDok 7in display setup for Jetson Orin (Issue #369)
Add complete display integration for MageDok 7" IPS touchscreen: Configuration Files: - X11 display config (xorg-magedok.conf) — 1024×600 @ 60Hz - PulseAudio routing (pulseaudio-magedok.conf) — HDMI audio to speakers - Udev rules (90-magedok-touch.rules) — USB touch device permissions - Systemd service (magedok-display.service) — auto-start on boot ROS2 Launch: - magedok_display.launch.py — coordinate display/touch/audio setup Helper Scripts: - verify_display.py — validate 1024×600 resolution via xrandr - touch_monitor.py — detect MageDok USB touch, publish status - audio_router.py — configure PulseAudio HDMI sink routing Documentation: - MAGEDOK_DISPLAY_SETUP.md — complete installation and troubleshooting guide Features: ✓ DisplayPort → HDMI video from Orin DP connector ✓ USB touch input as HID device (driver-free) ✓ HDMI audio routing to built-in speakers ✓ 1024×600 native resolution verification ✓ Systemd auto-launch on boot (no login prompt) ✓ Headless fallback when display disconnected ✓ ROS2 status monitoring (touch/audio/resolution) Supports Salty Face UI (Issue #370) and accessibility features (Issue #371) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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# PulseAudio Configuration for MageDok HDMI Audio
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# Routes HDMI audio from DisplayPort adapter to internal speaker output
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# Detect and load HDMI output module
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load-module module-alsa-sink device=hw:0,3 sink_name=hdmi_stereo sink_properties="device.description='HDMI Audio'"
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# Detect and configure internal speaker (fallback)
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load-module module-alsa-sink device=hw:0,0 sink_name=speaker_mono sink_properties="device.description='Speaker'"
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# Set HDMI as default output sink
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set-default-sink hdmi_stereo
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# Enable volume control
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load-module module-volume-restore
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# Auto-switch to HDMI when connected
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load-module module-switch-on-connect
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# Log sink configuration
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.load-if-exists /etc/pulse/magedok-routing.conf
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33
jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf
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33
jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf
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# X11 Configuration for MageDok 7" Display
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# Resolution: 1024×600 @ 60Hz
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# Output: HDMI via DisplayPort adapter
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Section "Monitor"
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Identifier "MageDok"
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Option "PreferredMode" "1024x600_60.00"
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Option "Position" "0 0"
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Option "Primary" "true"
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EndSection
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Section "Screen"
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Identifier "Screen0"
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Monitor "MageDok"
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DefaultDepth 24
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SubSection "Display"
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Depth 24
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Modes "1024x600" "1024x768" "800x600" "640x480"
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EndSubSection
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EndSection
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Section "Device"
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Identifier "NVIDIA Tegra"
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Driver "nvidia"
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BusID "PCI:0:0:0"
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Option "RegistryDwords" "EnableBrightnessControl=1"
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Option "ConnectedMonitor" "HDMI-0"
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EndSection
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Section "ServerLayout"
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Identifier "Default"
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Screen "Screen0"
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EndSection
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# MageDok 7" Touchscreen Display Setup
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Issue #369: Display setup for MageDok 7" IPS touchscreen on Jetson Orin Nano.
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## Hardware Setup
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### Connections
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- **Video**: DisplayPort → HDMI cable from Orin DP 1.2 connector to MageDok HDMI input
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- **Touch**: USB 3.0 cable from Orin USB-A to MageDok USB-C connector
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- **Audio**: HDMI carries embedded audio from DisplayPort (no separate audio cable needed)
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### Display Specs
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- **Resolution**: 1024×600 @ 60Hz
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- **Panel Type**: 7" IPS (In-Plane Switching) - wide viewing angles
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- **Sunlight Readable**: Yes, with high brightness
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- **Built-in Speakers**: Yes (via HDMI audio)
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## Installation Steps
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### 1. Kernel and Display Driver Configuration
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```bash
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# Update display mode database (if needed)
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sudo apt-get update && sudo apt-get install -y xrandr x11-utils edid-decode
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# Verify X11 is running
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echo $DISPLAY # Should show :0 or :1
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# Check connected displays
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xrandr --query
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```
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**Expected output**: HDMI-1 connected at 1024x600 resolution
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### 2. Install udev Rules for Touch Input
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```bash
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# Copy udev rules
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sudo cp jetson/ros2_ws/src/saltybot_bringup/udev/90-magedok-touch.rules \
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/etc/udev/rules.d/
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# Reload udev
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sudo udevadm control --reload-rules
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sudo udevadm trigger
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# Verify touch device
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ls -l /dev/magedok-touch
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# Or check input devices
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cat /proc/bus/input/devices | grep -i "eGTouch\|EETI"
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```
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### 3. X11 Display Configuration
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```bash
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# Backup original X11 config
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sudo cp /etc/X11/xorg.conf /etc/X11/xorg.conf.backup
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# Apply MageDok X11 config
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sudo cp jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf \
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/etc/X11/xorg.conf
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# Restart X11 (or reboot)
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sudo systemctl restart gdm3 # or startx if using console
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```
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### 4. PulseAudio Audio Routing
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```bash
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# Check current audio sinks
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pactl list sinks | grep Name
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# Find HDMI sink (typically contains "hdmi" in name)
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pactl set-default-sink <hdmi-sink-name>
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# Verify routing
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pactl get-default-sink
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# Optional: Set volume
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pactl set-sink-volume <sink-name> 70%
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```
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### 5. ROS2 Launch Configuration
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```bash
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# Build the saltybot_bringup package
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cd jetson/ros2_ws
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colcon build --packages-select saltybot_bringup
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# Source workspace
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source install/setup.bash
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# Launch display setup
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ros2 launch saltybot_bringup magedok_display.launch.py
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```
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### 6. Enable Auto-Start on Boot
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```bash
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# Copy systemd service
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sudo cp jetson/ros2_ws/src/saltybot_bringup/systemd/magedok-display.service \
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/etc/systemd/system/
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# Enable service
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sudo systemctl daemon-reload
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sudo systemctl enable magedok-display.service
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# Start service
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sudo systemctl start magedok-display.service
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# Check status
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sudo systemctl status magedok-display.service
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sudo journalctl -u magedok-display -f # Follow logs
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```
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## Verification
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### Display Resolution
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```bash
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# Check actual resolution
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xdotool getactivewindow getwindowgeometry
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# Verify with xrandr
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xrandr | grep "1024x600"
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```
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**Expected**: `1024x600_60.00 +0+0` or similar
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### Touch Input
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```bash
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# List input devices
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xinput list
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# Should show "MageDok Touch" or "eGTouch Controller"
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# Test touch by clicking on display - cursor should move
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```
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### Audio
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```bash
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# Test HDMI audio
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speaker-test -c 2 -l 1 -s 1 -t sine
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# Verify volume level
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pactl list sinks | grep -A 10 RUNNING
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```
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## Troubleshooting
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### Display Not Detected
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```bash
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# Check EDID data
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edid-decode /sys/class/drm/card0-HDMI-A-1/edid
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# Force resolution
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xrandr --output HDMI-1 --mode 1024x600 --rate 60
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# Check kernel logs
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dmesg | grep -i "drm\|HDMI\|dp"
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```
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### Touch Not Working
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```bash
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# Check USB connection
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lsusb | grep -i "eGTouch\|EETI"
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# Verify udev rules applied
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cat /etc/udev/rules.d/90-magedok-touch.rules
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# Test touch device directly
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evtest /dev/magedok-touch # Or /dev/input/eventX
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```
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### Audio Not Routing
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```bash
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# Check PulseAudio daemon
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pulseaudio --version
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systemctl status pulseaudio
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# Restart PulseAudio
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systemctl --user restart pulseaudio
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# Monitor audio stream
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pactl list sink-inputs
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```
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### Display Disconnection (Headless Fallback)
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The system should continue operating normally with display disconnected:
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- ROS2 services remain accessible via network
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- Robot commands via `/cmd_vel` continue working
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- Data logging and telemetry unaffected
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- Dashboard accessible via SSH/webui from other machine
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## Testing Checklist
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- [ ] Display shows 1024×600 resolution
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- [ ] Touch input registers in xinput (test by moving cursor)
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- [ ] Audio plays through display speakers
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- [ ] System boots without login prompt (if using auto-start)
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- [ ] All ROS2 nodes launch correctly with display
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- [ ] System operates normally when display is disconnected
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- [ ] `/magedok/touch_status` topic shows true (ROS2 verify script)
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- [ ] `/magedok/audio_status` topic shows HDMI sink (ROS2 audio router)
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## Related Issues
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- **#368**: Salty Face UI (depends on this display setup)
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- **#370**: Animated expression UI
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- **#371**: Deaf/accessibility mode with touch keyboard
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## References
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- MageDok 7" Specs: [HDMI, 1024×600, USB Touch, Built-in Speakers]
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- Jetson Orin Nano DisplayPort Output: Requires active adapter (no DP Alt Mode on USB-C)
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- PulseAudio: HDMI audio sink routing via ALSA
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- X11/Xrandr: Display mode configuration
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#!/usr/bin/env python3
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"""
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MageDok 7" Display Launch Configuration
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- Video: DisplayPort → HDMI (1024×600)
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- Touch: USB HID
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- Audio: HDMI → internal speakers via PulseAudio
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"""
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import ExecuteProcess
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def generate_launch_description():
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return LaunchDescription([
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# Log startup
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ExecuteProcess(
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cmd=['echo', '[MageDok] Display setup starting...'],
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shell=True,
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),
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# Verify display resolution
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Node(
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package='saltybot_bringup',
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executable='verify_display.py',
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name='display_verifier',
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parameters=[
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{'target_width': 1024},
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{'target_height': 600},
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{'target_refresh': 60},
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],
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output='screen',
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),
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# Monitor touch input
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Node(
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package='saltybot_bringup',
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executable='touch_monitor.py',
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name='touch_monitor',
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parameters=[
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{'device_name': 'MageDok Touch'},
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{'poll_interval': 0.1},
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],
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output='screen',
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),
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# Audio routing (PulseAudio sink redirection)
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Node(
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package='saltybot_bringup',
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executable='audio_router.py',
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name='audio_router',
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parameters=[
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{'hdmi_sink': 'alsa_output.pci-0000_00_1d.0.hdmi-stereo'},
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{'default_sink': True},
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],
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output='screen',
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),
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])
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97
jetson/ros2_ws/src/saltybot_bringup/scripts/audio_router.py
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97
jetson/ros2_ws/src/saltybot_bringup/scripts/audio_router.py
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#!/usr/bin/env python3
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"""
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MageDok Audio Router
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Routes HDMI audio from DisplayPort adapter to internal speakers via PulseAudio
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"""
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import subprocess
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String
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class AudioRouter(Node):
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def __init__(self):
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super().__init__('audio_router')
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self.declare_parameter('hdmi_sink', 'alsa_output.pci-0000_00_1d.0.hdmi-stereo')
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self.declare_parameter('default_sink', True)
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self.hdmi_sink = self.get_parameter('hdmi_sink').value
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self.set_default = self.get_parameter('default_sink').value
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self.audio_status_pub = self.create_publisher(String, '/magedok/audio_status', 10)
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self.get_logger().info('Audio Router: Configuring HDMI audio routing...')
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self.setup_pulseaudio()
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# Check status every 5 seconds
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self.create_timer(5.0, self.check_audio_status)
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def setup_pulseaudio(self):
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"""Configure PulseAudio to route HDMI audio"""
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try:
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# List available sinks
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result = subprocess.run(['pactl', 'list', 'sinks'], capture_output=True, text=True, timeout=5)
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sinks = self._parse_pa_sinks(result.stdout)
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if not sinks:
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self.get_logger().warn('No PulseAudio sinks detected')
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return
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self.get_logger().info(f'Available sinks: {", ".join(sinks.keys())}')
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# Find HDMI or use first available
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hdmi_sink = None
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for name in sinks.keys():
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if 'hdmi' in name.lower() or 'HDMI' in name:
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hdmi_sink = name
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break
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if not hdmi_sink:
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hdmi_sink = list(sinks.keys())[0] # Fallback to first sink
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self.get_logger().warn(f'HDMI sink not found, using: {hdmi_sink}')
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else:
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self.get_logger().info(f'✓ HDMI sink identified: {hdmi_sink}')
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# Set as default if requested
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if self.set_default:
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subprocess.run(['pactl', 'set-default-sink', hdmi_sink], timeout=5)
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self.get_logger().info(f'✓ Audio routed to: {hdmi_sink}')
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except Exception as e:
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self.get_logger().error(f'PulseAudio setup failed: {e}')
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def _parse_pa_sinks(self, pactl_output):
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"""Parse 'pactl list sinks' output"""
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sinks = {}
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current_sink = None
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for line in pactl_output.split('\n'):
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if line.startswith('Sink #'):
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current_sink = line.split('#')[1].strip()
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elif '\tName: ' in line and current_sink:
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name = line.split('Name: ')[1].strip()
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sinks[name] = current_sink
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return sinks
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def check_audio_status(self):
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"""Verify audio is properly routed"""
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try:
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result = subprocess.run(['pactl', 'get-default-sink'], capture_output=True, text=True, timeout=5)
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status = String()
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status.data = result.stdout.strip()
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self.audio_status_pub.publish(status)
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self.get_logger().debug(f'Current audio sink: {status.data}')
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except Exception as e:
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self.get_logger().warn(f'Audio status check failed: {e}')
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def main(args=None):
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rclpy.init(args=args)
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router = AudioRouter()
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rclpy.spin(router)
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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88
jetson/ros2_ws/src/saltybot_bringup/scripts/touch_monitor.py
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88
jetson/ros2_ws/src/saltybot_bringup/scripts/touch_monitor.py
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#!/usr/bin/env python3
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"""
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MageDok Touch Input Monitor
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Verifies USB touch device is recognized and functional
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"""
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import os
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import subprocess
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String, Bool
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class TouchMonitor(Node):
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def __init__(self):
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super().__init__('touch_monitor')
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self.declare_parameter('device_name', 'MageDok Touch')
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self.declare_parameter('poll_interval', 0.1)
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self.device_name = self.get_parameter('device_name').value
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self.poll_interval = self.get_parameter('poll_interval').value
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self.touch_status_pub = self.create_publisher(Bool, '/magedok/touch_status', 10)
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self.device_info_pub = self.create_publisher(String, '/magedok/device_info', 10)
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self.get_logger().info(f'Touch Monitor: Scanning for {self.device_name}...')
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self.detect_touch_device()
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# Publish status every 2 seconds
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self.create_timer(2.0, self.publish_status)
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def detect_touch_device(self):
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"""Detect MageDok touch device via USB"""
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try:
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# Check lsusb for MageDok or eGTouch device
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result = subprocess.run(['lsusb'], capture_output=True, text=True, timeout=5)
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lines = result.stdout.split('\n')
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for line in lines:
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if 'eGTouch' in line or 'EETI' in line or 'MageDok' in line or 'touch' in line.lower():
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self.get_logger().info(f'✓ Touch device found: {line.strip()}')
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msg = String()
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msg.data = line.strip()
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self.device_info_pub.publish(msg)
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return True
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# Fallback: check input devices
|
||||
result = subprocess.run(['grep', '-l', 'eGTouch\|EETI\|MageDok', '/proc/bus/input/devices'],
|
||||
capture_output=True, text=True, timeout=5)
|
||||
if result.returncode == 0:
|
||||
self.get_logger().info('✓ Touch device registered in /proc/bus/input/devices')
|
||||
return True
|
||||
|
||||
self.get_logger().warn('⚠ Touch device not detected — ensure USB connection is secure')
|
||||
return False
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Device detection failed: {e}')
|
||||
return False
|
||||
|
||||
def publish_status(self):
|
||||
"""Publish current touch device status"""
|
||||
try:
|
||||
result = subprocess.run(['ls', '/dev/magedok-touch'], capture_output=True, timeout=2)
|
||||
status = Bool()
|
||||
status.data = (result.returncode == 0)
|
||||
self.touch_status_pub.publish(status)
|
||||
|
||||
if status.data:
|
||||
self.get_logger().debug('Touch device: ACTIVE')
|
||||
else:
|
||||
self.get_logger().warn('Touch device: NOT DETECTED')
|
||||
except Exception as e:
|
||||
status = Bool()
|
||||
status.data = False
|
||||
self.touch_status_pub.publish(status)
|
||||
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
monitor = TouchMonitor()
|
||||
rclpy.spin(monitor)
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -0,0 +1,98 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
MageDok Display Verifier
|
||||
Validates that the 7" display is running at 1024×600 resolution
|
||||
"""
|
||||
|
||||
import os
|
||||
import re
|
||||
import subprocess
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
|
||||
|
||||
class DisplayVerifier(Node):
|
||||
def __init__(self):
|
||||
super().__init__('display_verifier')
|
||||
|
||||
self.declare_parameter('target_width', 1024)
|
||||
self.declare_parameter('target_height', 600)
|
||||
self.declare_parameter('target_refresh', 60)
|
||||
|
||||
self.target_w = self.get_parameter('target_width').value
|
||||
self.target_h = self.get_parameter('target_height').value
|
||||
self.target_f = self.get_parameter('target_refresh').value
|
||||
|
||||
self.get_logger().info(f'Display Verifier: Target {self.target_w}×{self.target_h} @ {self.target_f}Hz')
|
||||
self.verify_display()
|
||||
|
||||
def verify_display(self):
|
||||
"""Check current display resolution via xdotool or xrandr"""
|
||||
try:
|
||||
# Try xrandr first
|
||||
result = subprocess.run(['xrandr'], capture_output=True, text=True, timeout=5)
|
||||
if result.returncode == 0:
|
||||
self.parse_xrandr(result.stdout)
|
||||
else:
|
||||
self.get_logger().warn('xrandr not available, checking edid-decode')
|
||||
self.check_edid()
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Display verification failed: {e}')
|
||||
|
||||
def parse_xrandr(self, output):
|
||||
"""Parse xrandr output to find active display resolution"""
|
||||
lines = output.split('\n')
|
||||
for line in lines:
|
||||
# Look for connected display with resolution
|
||||
if 'connected' in line and 'primary' in line:
|
||||
# Example: "HDMI-1 connected primary 1024x600+0+0 (normal left inverted right)"
|
||||
match = re.search(r'(\d+)x(\d+)', line)
|
||||
if match:
|
||||
width, height = int(match.group(1)), int(match.group(2))
|
||||
self.verify_resolution(width, height)
|
||||
return
|
||||
|
||||
self.get_logger().warn('Could not determine active display from xrandr')
|
||||
|
||||
def verify_resolution(self, current_w, current_h):
|
||||
"""Validate resolution matches target"""
|
||||
if current_w == self.target_w and current_h == self.target_h:
|
||||
self.get_logger().info(f'✓ Display verified: {current_w}×{current_h} [OK]')
|
||||
else:
|
||||
self.get_logger().warn(f'⚠ Display mismatch: Expected {self.target_w}×{self.target_h}, got {current_w}×{current_h}')
|
||||
self.attempt_set_resolution()
|
||||
|
||||
def attempt_set_resolution(self):
|
||||
"""Try to set resolution via xrandr"""
|
||||
try:
|
||||
# Find HDMI output
|
||||
result = subprocess.run(
|
||||
['xrandr', '--output', 'HDMI-1', '--mode', f'{self.target_w}x{self.target_h}', '--rate', str(self.target_f)],
|
||||
capture_output=True, text=True, timeout=5
|
||||
)
|
||||
if result.returncode == 0:
|
||||
self.get_logger().info(f'✓ Resolution set to {self.target_w}×{self.target_h} @ {self.target_f}Hz')
|
||||
else:
|
||||
self.get_logger().warn(f'Resolution change failed: {result.stderr}')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Could not set resolution: {e}')
|
||||
|
||||
def check_edid(self):
|
||||
"""Fallback: check EDID (Extended Display ID) data"""
|
||||
try:
|
||||
result = subprocess.run(['edid-decode', '/sys/class/drm/card0-HDMI-A-1/edid'],
|
||||
capture_output=True, text=True, timeout=5)
|
||||
if 'Established timings' in result.stdout:
|
||||
self.get_logger().info('Display EDID detected (MageDok 1024×600 display)')
|
||||
except:
|
||||
self.get_logger().warn('EDID check unavailable')
|
||||
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
verifier = DisplayVerifier()
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -0,0 +1,26 @@
|
||||
[Unit]
|
||||
Description=MageDok 7" Display Setup and Auto-Launch
|
||||
Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/369
|
||||
After=network-online.target
|
||||
Wants=network-online.target
|
||||
ConditionPathExists=/dev/pts/0
|
||||
|
||||
[Service]
|
||||
Type=oneshot
|
||||
ExecStartPre=/bin/sleep 2
|
||||
ExecStart=/usr/bin/env bash -c 'source /opt/ros/jazzy/setup.bash && ros2 launch saltybot_bringup magedok_display.launch.py'
|
||||
ExecStartPost=/usr/bin/env bash -c 'DISPLAY=:0 /usr/bin/startx -- :0 vt7 -nolisten tcp 2>/dev/null &'
|
||||
|
||||
StandardOutput=journal
|
||||
StandardError=journal
|
||||
SyslogIdentifier=magedok-display
|
||||
User=orin
|
||||
Group=orin
|
||||
Environment="DISPLAY=:0"
|
||||
Environment="XAUTHORITY=/home/orin/.Xauthority"
|
||||
|
||||
Restart=on-failure
|
||||
RestartSec=5
|
||||
|
||||
[Install]
|
||||
WantedBy=multi-user.target
|
||||
@ -0,0 +1,19 @@
|
||||
# MageDok 7" Touchscreen USB Device Rules
|
||||
# Ensure touch device is recognized and accessible
|
||||
|
||||
# Generic USB touch input device (MageDok)
|
||||
# Manufacturer typically reports as: EETI eGTouch Controller
|
||||
SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", TAG="uaccess"
|
||||
SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", TAG="uaccess"
|
||||
SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*MageDok*", TAG="uaccess"
|
||||
|
||||
# Fallback: Any USB device with touch capability (VID/PID may vary by batch)
|
||||
SUBSYSTEM=="usb", ATTRS{bInterfaceClass}=="03", ATTRS{bInterfaceSubClass}=="01", TAG="uaccess"
|
||||
|
||||
# Create /dev/magedok-touch symlink for consistent reference
|
||||
SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", SYMLINK="magedok-touch"
|
||||
SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", SYMLINK="magedok-touch"
|
||||
|
||||
# Permissions: 0666 (rw for all users)
|
||||
SUBSYSTEM=="input", KERNEL=="event*", MODE="0666"
|
||||
SUBSYSTEM=="input", KERNEL=="mouse*", MODE="0666"
|
||||
Loading…
x
Reference in New Issue
Block a user