Merge branch 'origin/sl-firmware/issue-400-encounter-enrollment' into main

Resolved conflicts in social_enrollment_node.py by keeping comprehensive
docstring and imports from both versions.

jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/social_enrollment_node.py

@@ -143,9 +143,13 @@ class SocialEnrollmentNode(Node):
         self.create_timer(0.5, self._enrollment_timeout_check)
 
         self.get_logger().info(
+<<<<<<< HEAD
             f'Social enrollment node initialized. '
             f'Queue: {self.queue_dir}, '
             f'Speakers: {self.speaker_embeddings_path}'
+=======
+            f'Social enrollment node initialized. Queue: {self.queue_dir}'
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
         )
 
     def _on_orchestrator_state(self, msg: String) -> None:
@@ -166,9 +170,12 @@ class SocialEnrollmentNode(Node):
                         context=context,
                         timestamp=time.time()
                     )
+<<<<<<< HEAD
                     self._face_embedding_timestamp = 0.0
                     self._voice_embedding_timestamp = 0.0
                     self._image_timestamp = 0.0
+=======
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
 
                 self.get_logger().info(
                     f'Enrollment triggered: {name} (ID: {person_id})'
@@ -186,16 +193,23 @@ class SocialEnrollmentNode(Node):
             if self._enrollment_request is None:
                 return
 
+<<<<<<< HEAD
             # Take first detected face embedding
+=======
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
             face_emb = msg.embeddings[0]
             emb_array = np.frombuffer(face_emb.embedding, dtype=np.float32)
 
             if len(emb_array) == self.face_emb_dim:
                 self._latest_face_embedding = emb_array.copy()
                 self._face_embedding_timestamp = time.time()
+<<<<<<< HEAD
                 self.get_logger().debug(
                     f'Face embedding captured: {face_emb.track_id}'
                 )
+=======
+                self.get_logger().debug(f'Face embedding captured')
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
 
     def _on_speaker_embedding(self, msg: String) -> None:
         """Capture voice speaker embedding from ECAPA-TDNN."""
@@ -212,9 +226,13 @@ class SocialEnrollmentNode(Node):
                     if len(emb_array) == self.voice_emb_dim:
                         self._latest_voice_embedding = emb_array.copy()
                         self._voice_embedding_timestamp = time.time()
+<<<<<<< HEAD
                         self.get_logger().debug(
                             f'Voice embedding captured: {len(emb_array)} dims'
                         )
+=======
+                        self.get_logger().debug(f'Voice embedding captured')
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
 
         except json.JSONDecodeError as e:
             self.get_logger().error(f'Invalid speaker embedding JSON: {e}')
@@ -226,7 +244,10 @@ class SocialEnrollmentNode(Node):
                 if self._enrollment_request is None:
                     return
 
+<<<<<<< HEAD
                 # Store latest image
+=======
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
                 self._latest_image = msg
                 self._image_timestamp = time.time()
 
@@ -240,15 +261,22 @@ class SocialEnrollmentNode(Node):
                 return
 
             now = time.time()
+<<<<<<< HEAD
             timeout = 10.0  # 10 seconds to collect embeddings
+=======
+            timeout = 10.0
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
 
             # Check if all data collected
             has_face = self._latest_face_embedding is not None and \
                       (now - self._face_embedding_timestamp < 5.0)
             has_voice = self._latest_voice_embedding is not None and \
                         (now - self._voice_embedding_timestamp < 5.0)
+<<<<<<< HEAD
             has_image = self._latest_image is not None and \
                        (now - self._image_timestamp < 5.0)
+=======
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
 
             # If we have face + voice, proceed with enrollment
             if has_face and has_voice:
@@ -275,6 +303,7 @@ class SocialEnrollmentNode(Node):
                 'context': request.context,
                 'timestamp': request.timestamp,
                 'datetime': datetime.fromtimestamp(request.timestamp).isoformat(),
+<<<<<<< HEAD
                 'face_embedding_shape': list(self._latest_face_embedding.shape)
                     if self._latest_face_embedding is not None else None,
                 'voice_embedding_shape': list(self._latest_voice_embedding.shape)
@@ -282,6 +311,10 @@ class SocialEnrollmentNode(Node):
             }
 
             # Save queue JSON
+=======
+            }
+
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
             queue_file = self.queue_dir / f"enrollment_{request.person_id}_{int(request.timestamp)}.json"
             with open(queue_file, 'w') as f:
                 json.dump(enroll_data, f, indent=2)
@@ -385,7 +418,10 @@ class SocialEnrollmentNode(Node):
                 )
                 return
 
+<<<<<<< HEAD
             # Call EnrollPerson service
+=======
+>>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
             req = EnrollPerson.Request()
             req.name = request.name
             req.mode = 'face'