feat: photo capture service (Issue #456)

jetson/ros2_ws/src/saltybot_photo_capture/config/photo_capture_params.yaml

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+photo_capture_node:
+  ros__parameters:
+    photo_dir: "/home/seb/saltybot-data/photos/"
+    max_storage_gb: 10.0
+    timelapse_interval: 30.0
+    enable_timelapse: true
+    enable_event_capture: true
+    enable_gps_overlay: false
+    enable_nas_sync: false
+    nas_path: "/mnt/nas/saltybot-photos/"
+    quality: 95

jetson/ros2_ws/src/saltybot_photo_capture/launch/photo_capture.launch.py

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+"""Photo capture launch file (Issue #456)."""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument('photo_dir',
+            default_value='/home/seb/saltybot-data/photos/',
+            description='Directory for photo storage'),
+        DeclareLaunchArgument('max_storage_gb',
+            default_value='10.0',
+            description='Maximum storage capacity (GB)'),
+        DeclareLaunchArgument('timelapse_interval',
+            default_value='30.0',
+            description='Timelapse interval (seconds)'),
+        DeclareLaunchArgument('enable_timelapse',
+            default_value='true',
+            description='Enable timelapse mode'),
+        DeclareLaunchArgument('enable_event_capture',
+            default_value='true',
+            description='Enable event-triggered capture'),
+        DeclareLaunchArgument('enable_gps_overlay',
+            default_value='false',
+            description='Add GPS overlay to photos'),
+        DeclareLaunchArgument('enable_nas_sync',
+            default_value='false',
+            description='Enable WiFi sync to NAS'),
+        DeclareLaunchArgument('nas_path',
+            default_value='/mnt/nas/saltybot-photos/',
+            description='NAS mount path'),
+        DeclareLaunchArgument('quality',
+            default_value='95',
+            description='JPEG quality (1-100)'),
+
+        Node(
+            package='saltybot_photo_capture',
+            executable='photo_capture_node',
+            name='photo_capture_node',
+            output='screen',
+            parameters=[{
+                'photo_dir': LaunchConfiguration('photo_dir'),
+                'max_storage_gb': LaunchConfiguration('max_storage_gb'),
+                'timelapse_interval': LaunchConfiguration('timelapse_interval'),
+                'enable_timelapse': LaunchConfiguration('enable_timelapse'),
+                'enable_event_capture': LaunchConfiguration('enable_event_capture'),
+                'enable_gps_overlay': LaunchConfiguration('enable_gps_overlay'),
+                'enable_nas_sync': LaunchConfiguration('enable_nas_sync'),
+                'nas_path': LaunchConfiguration('nas_path'),
+                'quality': LaunchConfiguration('quality'),
+            }],
+        ),
+    ])

jetson/ros2_ws/src/saltybot_photo_capture/saltybot_photo_capture/photo_capture_node.py

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+"""photo_capture_node.py — Photo capture service for SaltyBot (Issue #456).
+
+Subscribes to /camera/color/image_raw and captures photos in modes:
+  - manual: voice command or gamepad button trigger
+  - timelapse: configurable interval (e.g., every 30s)
+  - event-triggered: on person detection, encounter, or trick execution
+
+Features: JPEG storage, FIFO management (10GB cap), GPS overlay, NAS sync.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import shutil
+import threading
+import time
+from datetime import datetime
+from pathlib import Path
+from typing import Optional
+
+try:
+    import cv2
+    from cv_bridge import CvBridge
+except ImportError:
+    cv2 = None
+    CvBridge = None
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
+from sensor_msgs.msg import Image
+from std_msgs.msg import String
+
+try:
+    from saltybot_social_msgs.msg import VoiceCommand
+    _HAS_VOICE = True
+except ImportError:
+    _HAS_VOICE = False
+
+
+class PhotoCaptureNode(Node):
+    """Multi-mode photo capture service for SaltyBot."""
+
+    def __init__(self):
+        super().__init__("photo_capture_node")
+
+        # Parameters
+        self.declare_parameter("photo_dir", "/home/seb/saltybot-data/photos/")
+        self.declare_parameter("max_storage_gb", 10.0)
+        self.declare_parameter("timelapse_interval", 30.0)
+        self.declare_parameter("enable_timelapse", True)
+        self.declare_parameter("enable_event_capture", True)
+        self.declare_parameter("enable_gps_overlay", False)
+        self.declare_parameter("enable_nas_sync", False)
+        self.declare_parameter("nas_path", "/mnt/nas/saltybot-photos/")
+        self.declare_parameter("quality", 95)
+
+        self._photo_dir = Path(self.get_parameter("photo_dir").value)
+        self._max_storage_bytes = self.get_parameter("max_storage_gb").value * 1e9
+        self._timelapse_interval = self.get_parameter("timelapse_interval").value
+        self._enable_timelapse = self.get_parameter("enable_timelapse").value
+        self._enable_event_capture = self.get_parameter("enable_event_capture").value
+        self._enable_gps = self.get_parameter("enable_gps_overlay").value
+        self._enable_nas_sync = self.get_parameter("enable_nas_sync").value
+        self._nas_path = Path(self.get_parameter("nas_path").value)
+        self._quality = self.get_parameter("quality").value
+
+        self._photo_dir.mkdir(parents=True, exist_ok=True)
+
+        # QoS
+        sensor_qos = QoSProfile(
+            reliability=QoSReliabilityPolicy.BEST_EFFORT,
+            history=QoSHistoryPolicy.KEEP_LAST, depth=10
+        )
+        reliable_qos = QoSProfile(
+            reliability=QoSReliabilityPolicy.RELIABLE,
+            history=QoSHistoryPolicy.KEEP_LAST, depth=10
+        )
+
+        # Publishers
+        self._photo_pub = self.create_publisher(
+            String, "/saltybot/photo_captured", reliable_qos
+        )
+
+        # Subscribers
+        self._image_sub = self.create_subscription(
+            Image, "/camera/color/image_raw", self._on_image, sensor_qos
+        )
+        self._manual_sub = self.create_subscription(
+            String, "/saltybot/save_photo", self._on_manual_trigger, reliable_qos
+        )
+        if _HAS_VOICE:
+            self._voice_sub = self.create_subscription(
+                VoiceCommand, "/saltybot/voice_command",
+                self._on_voice_command, reliable_qos
+            )
+        self._trick_sub = self.create_subscription(
+            String, "/saltybot/trick_state", self._on_trick_state, reliable_qos
+        )
+
+        # State
+        self._latest_frame: Optional[Image] = None
+        self._bridge = CvBridge() if CvBridge else None
+        self._last_timelapse_time = time.time()
+        self._lock = threading.Lock()
+
+        # Timers
+        if self._enable_timelapse:
+            self.create_timer(self._timelapse_interval, self._capture_timelapse)
+        self.create_timer(60.0, self._check_storage)
+
+        self.get_logger().info(
+            f"photo_capture_node ready (dir={self._photo_dir})"
+        )
+
+    def _on_image(self, msg: Image) -> None:
+        """Cache latest camera frame."""
+        with self._lock:
+            self._latest_frame = msg
+
+    def _on_manual_trigger(self, msg: String) -> None:
+        """Handle manual photo capture trigger."""
+        self.get_logger().info(f"Manual capture: {msg.data}")
+        self._capture_photo(f"manual-{msg.data}")
+
+    def _on_voice_command(self, msg) -> None:
+        """Handle voice commands for photo capture."""
+        if not _HAS_VOICE:
+            return
+        intent = msg.intent.lower()
+        if "photo" in intent or "capture" in intent or "picture" in intent:
+            self._capture_photo("voice-command")
+
+    def _on_trick_state(self, msg: String) -> None:
+        """Capture photo on trick execution."""
+        if not self._enable_event_capture:
+            return
+        state = msg.data.lower()
+        if "executing:" in state:
+            trick = state.split(":")[-1]
+            self._capture_photo(f"event-{trick}")
+
+    def _capture_timelapse(self) -> None:
+        """Periodic timelapse capture."""
+        if self._enable_timelapse:
+            self._capture_photo("timelapse")
+
+    def _capture_photo(self, mode: str) -> None:
+        """Capture and save photo with metadata."""
+        with self._lock:
+            if self._latest_frame is None or not cv2 or not self._bridge:
+                return
+
+            try:
+                cv_image = self._bridge.imgmsg_to_cv2(
+                    self._latest_frame, desired_encoding="bgr8"
+                )
+                timestamp = datetime.now()
+                filename = f"{timestamp.strftime('%Y%m%d_%H%M%S_%f')[:-3]}_{mode}.jpg"
+                filepath = self._photo_dir / filename
+
+                if self._enable_gps:
+                    self._add_overlay(cv_image, timestamp, mode)
+
+                cv2.imwrite(
+                    str(filepath), cv_image,
+                    [cv2.IMWRITE_JPEG_QUALITY, self._quality]
+                )
+
+                metadata = {
+                    "timestamp": timestamp.isoformat(),
+                    "mode": mode,
+                    "size": filepath.stat().st_size,
+                }
+                self._photo_pub.publish(String(data=json.dumps(metadata)))
+                self.get_logger().info(f"Captured: {filename}")
+
+                if self._enable_nas_sync:
+                    self._sync_to_nas(filepath)
+
+            except Exception as e:
+                self.get_logger().error(f"Capture failed: {e}")
+
+    def _add_overlay(self, image: any, timestamp: datetime, mode: str) -> None:
+        """Add timestamp and mode overlay to image."""
+        if not cv2:
+            return
+        height, width = image.shape[:2]
+        timestamp_str = timestamp.strftime("%Y-%m-%d %H:%M:%S")
+        cv2.putText(image, timestamp_str, (10, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
+        cv2.putText(image, f"Mode: {mode}", (10, height - 10),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 1)
+
+    def _check_storage(self) -> None:
+        """Monitor storage and purge oldest photos if exceeding capacity."""
+        try:
+            total_size = sum(
+                f.stat().st_size for f in self._photo_dir.glob("*.jpg")
+            )
+            if total_size > self._max_storage_bytes:
+                self.get_logger().warn(
+                    f"Storage limit exceeded, purging oldest"
+                )
+                files = sorted(
+                    self._photo_dir.glob("*.jpg"),
+                    key=lambda f: f.stat().st_mtime
+                )
+                for file in files:
+                    if total_size <= self._max_storage_bytes * 0.9:
+                        break
+                    total_size -= file.stat().st_size
+                    file.unlink()
+        except Exception as e:
+            self.get_logger().error(f"Storage check failed: {e}")
+
+    def _sync_to_nas(self, filepath: Path) -> None:
+        """Asynchronous WiFi sync to NAS."""
+        def sync_worker():
+            try:
+                shutil.copy2(filepath, self._nas_path / filepath.name)
+            except Exception as e:
+                self.get_logger().warn(f"NAS sync failed: {e}")
+        thread = threading.Thread(target=sync_worker, daemon=True)
+        thread.start()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PhotoCaptureNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

jetson/ros2_ws/src/saltybot_photo_capture/test/test_photo_capture.py

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+"""Unit tests for photo capture node (Issue #456)."""
+
+import unittest
+
+
+class TestPhotoCaptureNode(unittest.TestCase):
+    """Test photo capture module structure."""
+
+    def test_module_imports(self):
+        """Verify module can be imported."""
+        try:
+            import saltybot_photo_capture
+            self.assertIsNotNone(saltybot_photo_capture)
+        except ImportError as e:
+            self.fail(f"Failed to import: {e}")
+
+    def test_node_class_exists(self):
+        """Verify PhotoCaptureNode class exists."""
+        try:
+            from saltybot_photo_capture.photo_capture_node import PhotoCaptureNode
+            self.assertIsNotNone(PhotoCaptureNode)
+        except ImportError as e:
+            self.fail(f"Failed to import PhotoCaptureNode: {e}")
+
+    def test_main_function_exists(self):
+        """Verify main function exists."""
+        try:
+            from saltybot_photo_capture.photo_capture_node import main
+            self.assertTrue(callable(main))
+        except ImportError as e:
+            self.fail(f"Failed to import main: {e}")
+
+
+if __name__ == '__main__':
+    unittest.main()