feat: SaltyFace web app UI for Chromium kiosk (Issue #370)
Animated robot expression interface as lightweight web application: **Architecture:** - HTML5 Canvas rendering engine - Node.js HTTP server (localhost:3000) - ROSLIB WebSocket bridge for ROS2 topics - Fullscreen responsive design (1024×600) **Features:** - 8 emotional states (happy, alert, confused, sleeping, excited, emergency, listening, talking) - Real-time ROS2 subscriptions: - /saltybot/state (emotion triggers) - /saltybot/battery (status display) - /saltybot/target_track (EXCITED emotion) - /saltybot/obstacles (ALERT emotion) - /social/speech/is_speaking (TALKING emotion) - /social/speech/is_listening (LISTENING emotion) - Tap-to-toggle status overlay - 60fps Canvas animation on Wayland - ~80MB total memory (Node.js + browser) **Files:** - public/index.html — Main page (1024×600 fullscreen) - public/salty-face.js — Canvas rendering + ROS2 integration - server.js — Node.js HTTP server with CORS support - systemd/salty-face-server.service — Auto-start systemd service - docs/SALTY_FACE_WEB_APP.md — Complete setup & API documentation **Integration:** - Runs in Chromium kiosk (Issue #374) - Depends on rosbridge_server for WebSocket bridge - Serves on localhost:3000 (configurable) **Next:** Issue #371 (Accessibility enhancements) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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[Unit]
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Description=SaltyFace Web App Server (Node.js)
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Documentation=https://github.com/saltytech/saltylab-firmware/issues/370
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After=network.target
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Before=chromium-kiosk.service
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Requires=chromium-kiosk.service
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[Service]
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Type=simple
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User=orin
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Group=nogroup
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WorkingDirectory=/opt/saltybot/app
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# Node.js server
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ExecStart=/usr/bin/node server.js --port 3000 --host 0.0.0.0
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# Environment
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Environment="NODE_ENV=production"
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Environment="NODE_OPTIONS=--max-old-space-size=256"
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# Restart policy
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Restart=on-failure
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RestartSec=3s
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# Resource limits
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MemoryMax=256M
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CPUQuota=50%
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# Logging
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StandardOutput=journal
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StandardError=journal
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SyslogIdentifier=salty-face-server
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# Security
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NoNewPrivileges=true
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PrivateTmp=true
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ProtectSystem=strict
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ProtectHome=yes
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ReadWritePaths=/opt/saltybot/logs
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[Install]
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WantedBy=multi-user.target
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378
ui/social-bot/docs/SALTY_FACE_WEB_APP.md
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ui/social-bot/docs/SALTY_FACE_WEB_APP.md
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# SaltyFace Web App UI
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**Issue #370**: Animated robot expression UI as lightweight web app.
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Runs in Chromium fullscreen kiosk mode (via Issue #374 Cage compositor) on MageDok 7" display.
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## Architecture
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```
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┌────────────────────────────────────────────┐
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│ MageDok 7" IPS Touchscreen (1024×600) │
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├────────────────────────────────────────────┤
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│ Chromium Browser (Kiosk Mode) │
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├────────────────────────────────────────────┤
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│ SaltyFace Web App (HTML5 Canvas) │
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│ ├─ Canvas-based face rendering │
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│ ├─ Touch overlay (status display) │
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│ ├─ 8 emotional states │
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│ └─ ROS2 WebSocket bridge integration │
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├────────────────────────────────────────────┤
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│ Node.js HTTP Server (localhost:3000) │
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│ ├─ Serves public/index.html │
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│ ├─ Serves public/salty-face.js │
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│ └─ CORS headers for ROS bridge │
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├────────────────────────────────────────────┤
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│ ROS2 Workloads │
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│ ├─ /saltybot/state │
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│ ├─ /saltybot/battery │
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│ ├─ /saltybot/target_track │
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│ ├─ /saltybot/obstacles │
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│ ├─ /social/speech/is_speaking │
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│ └─ /social/speech/is_listening │
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└────────────────────────────────────────────┘
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```
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## Features
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### 8 Emotional States
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| State | Trigger | Display | Color |
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|-------|---------|---------|-------|
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| **Happy** | IDLE, TRACKING | Normal eyes, smile | Green (#10b981) |
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| **Alert** | Obstacles < 0.5m | Wide eyes, tense | Red (#ef4444) |
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| **Confused** | Target lost, SEARCHING | Wandering eyes, blink | Amber (#f59e0b) |
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| **Sleeping** | Idle timeout | Closed eyes | Gray (#6b7280) |
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| **Excited** | Target acquired | Bouncing eyes | Green (#22c55e) |
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| **Emergency** | E-stop activated | Wide eyes, flashing | Red (#dc2626) |
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| **Listening** | Microphone active | Focused eyes, upward | Cyan (#0ea5e9) |
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| **Talking** | TTS output | Animated mouth | Cyan (#06b6d4) |
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### UI Elements
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- **Canvas Face**: 1024×600 animated face on 50% of screen
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- **Status Overlay** (tap-toggleable):
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- Battery %
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- Robot state (IDLE, TRACKING, SEARCHING, EMERGENCY)
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- Distance to target
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- Speed (m/s)
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- System health %
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- **Connection Status**: ROS bridge WebSocket status indicator
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- **Debug Stats**: Current emotion, talking state, audio level
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### Animation Performance
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- **Frame Rate**: 60fps (Wayland native, Cage compositor)
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- **Rendering**: Canvas 2D (GPU accelerated via WebGL fallback)
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- **Target**: Orin Nano GPU (8-core NVIDIA Ampere GPU)
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- **Memory**: ~80MB (Node.js server + browser tab)
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## File Structure
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```
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ui/social-bot/
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├── public/
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│ ├── index.html # Main page (1024×600)
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│ └── salty-face.js # Canvas rendering + ROS integration
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├── server.js # Node.js HTTP server (localhost:3000)
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└── docs/
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└── SALTY_FACE_WEB_APP.md # This file
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```
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## Installation & Setup
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### 1. Install Node.js
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```bash
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# If not installed
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sudo apt install -y nodejs npm
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```
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### 2. Copy Web App Files
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```bash
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# Copy to /opt/saltybot/app
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sudo mkdir -p /opt/saltybot/app
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sudo cp -r ui/social-bot/public /opt/saltybot/app/
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sudo cp ui/social-bot/server.js /opt/saltybot/app/
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sudo chmod +x /opt/saltybot/app/server.js
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```
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### 3. Install Systemd Service
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```bash
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# Copy service file
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sudo cp systemd/salty-face-server.service /etc/systemd/system/
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# Reload and enable
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sudo systemctl daemon-reload
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sudo systemctl enable salty-face-server.service
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```
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### 4. Start Service
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```bash
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# Manual start for testing
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sudo systemctl start salty-face-server.service
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# Check logs
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sudo journalctl -u salty-face-server.service -f
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```
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### 5. Verify Web App
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```bash
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# From any machine on network:
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# Open browser: http://<orin-ip>:3000
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# Or test locally:
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curl http://localhost:3000
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# Should return index.html
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```
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## ROS2 Integration
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### WebSocket Bridge
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The web app connects to ROS2 via WebSocket using ROSLIB:
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```javascript
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const ros = new ROSLIB.Ros({
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url: 'ws://localhost:9090' // rosbridge_server
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});
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```
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### Topic Subscriptions
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| Topic | Type | Purpose |
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|-------|------|---------|
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| `/saltybot/state` | `std_msgs/String` | Emotion trigger (EMERGENCY, TRACKING, SEARCHING) |
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| `/saltybot/battery` | `std_msgs/Float32` | Battery % display |
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| `/saltybot/target_track` | `geometry_msgs/Pose` | Target acquired → EXCITED |
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| `/saltybot/obstacles` | `sensor_msgs/LaserScan` | Obstacle distance → ALERT |
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| `/social/speech/is_speaking` | `std_msgs/Bool` | TTS output → TALKING emotion |
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| `/social/speech/is_listening` | `std_msgs/Bool` | Microphone → LISTENING emotion |
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| `/saltybot/audio_level` | `std_msgs/Float32` | Audio level display |
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### Message Format
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Most topics use simple JSON payloads:
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```json
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{
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"state": "TRACKING",
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"hasTarget": true,
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"obstacles": 0
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}
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```
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## Browser Compatibility
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- **Target**: Chromium 90+ (standard on Ubuntu 20.04+)
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- **Features Used**:
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- Canvas 2D rendering
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- WebSocket (ROSLIB)
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- Touch events (MageDok HID input)
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- requestAnimationFrame (animation loop)
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## Performance Tuning
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### Reduce CPU/GPU Load
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1. Lower animation frame rate:
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```javascript
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// In salty-face.js, reduce frameCount checks
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if (state.frameCount % 2 === 0) {
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// Only render every 2 frames → 30fps
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}
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```
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2. Simplify eye rendering:
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```javascript
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// Remove highlight reflection
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// Remove eye wander effect (confused state)
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```
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3. Disable unnecessary subscriptions:
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```javascript
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// Comment out /saltybot/obstacles subscription
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// Comment out /social/speech subscriptions
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```
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### Monitor Resource Usage
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```bash
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# Watch CPU/GPU load during animation
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watch -n 0.5 'top -bn1 | grep -E "PID|node|chromium"'
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# Check GPU memory
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tegrastats
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# Check Node.js memory
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ps aux | grep node
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```
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## Troubleshooting
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### Web App Won't Load
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**Issue**: Browser shows "Cannot GET /"
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**Solutions**:
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1. Verify server is running:
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```bash
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sudo systemctl status salty-face-server.service
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sudo journalctl -u salty-face-server.service -n 20
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```
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2. Check port 3000 is listening:
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```bash
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sudo netstat -tlnp | grep 3000
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```
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3. Verify public/ directory exists:
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```bash
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ls -la /opt/saltybot/app/public/
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```
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### ROS Bridge Connection Fails
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**Issue**: "WebSocket connection failed" in browser console
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**Solutions**:
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1. Verify rosbridge_server is running:
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```bash
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ps aux | grep rosbridge
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ros2 run rosbridge_server rosbridge_websocket
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```
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2. Check ROS2 domain ID matches:
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```bash
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echo $ROS_DOMAIN_ID
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# Should be same on robot and web app
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```
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3. Test WebSocket connectivity:
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```bash
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# From browser console:
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new WebSocket('ws://localhost:9090')
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# Should show "WebSocket is open"
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```
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### Touch Input Not Working
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**Issue**: MageDok touchscreen doesn't respond
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**Solutions**:
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1. Verify touch device exists:
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```bash
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ls -la /dev/magedok-touch
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```
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2. Check udev rule is applied:
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```bash
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sudo udevadm control --reload
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sudo udevadm trigger
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```
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3. Test touch input:
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```bash
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sudo cat /dev/input/event* | xxd
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# Touch screen and watch for input data
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```
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### High Memory Usage
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**Issue**: Node.js server consuming >256MB
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**Solutions**:
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1. Check for memory leaks in ROS topic subscriptions:
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```javascript
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// Ensure topics are properly unsubscribed
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// Limit history of emotion changes
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```
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2. Monitor real-time memory:
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```bash
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watch -n 1 'ps aux | grep node'
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```
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3. Adjust Node.js heap:
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```bash
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# In salty-face-server.service:
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# NODE_OPTIONS=--max-old-space-size=128 # Reduce from 256MB
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```
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## Performance Benchmarks
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### Boot Time
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- Node.js server: 2-3 seconds
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- Web app loads: <1 second
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- Total to interactive: ~3-4 seconds
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### Memory Usage
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- Node.js server: ~30MB
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- Chromium tab: ~50MB
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- Total: ~80MB (vs 450MB for GNOME desktop)
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### Frame Rate
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- Canvas rendering: 60fps (Wayland native)
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- Mouth animation: ~10fps (100ms per frame)
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- Eye blinking: Instant (state change)
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## Related Issues
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- **Issue #374**: Cage + Chromium kiosk (display environment)
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- **Issue #369**: MageDok display setup (hardware config)
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- **Issue #371**: Accessibility mode (keyboard/voice input enhancements)
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## Development
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### Local Testing
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```bash
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# Start Node.js server
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npm install # Install dependencies if needed
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node server.js --port 3000
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# Open in browser
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open http://localhost:3000
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```
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### Modify Emotion Config
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Edit `public/salty-face.js`:
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```javascript
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const EMOTION_CONFIG = {
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[EMOTIONS.HAPPY]: {
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eyeScale: 1.0, // Eye size
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pupilPos: { x: 0, y: 0 }, // Pupil offset
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blinkRate: 3000, // Blink interval (ms)
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color: '#10b981', // Eye color (CSS)
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},
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// ... other emotions
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};
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```
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### Add New Topics
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Edit `public/salty-face.js`, in `subscribeToRosTopics()`:
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```javascript
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const newTopic = new ROSLIB.Topic({
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ros,
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name: '/your/topic',
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messageType: 'std_msgs/Float32',
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});
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newTopic.subscribe((msg) => {
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state.newValue = msg.data;
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});
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```
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## References
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- [Canvas API](https://developer.mozilla.org/en-US/docs/Web/API/Canvas_API)
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- [ROSLIB.js](http://wiki.ros.org/roslibjs)
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- [Chromium Kiosk Mode](https://chromium.googlesource.com/chromium/src/+/main/docs/kiosk_mode.md)
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- [Wayland Protocol](https://wayland.freedesktop.org/)
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210
ui/social-bot/public/index.html
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210
ui/social-bot/public/index.html
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<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<meta name="theme-color" content="#050510">
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<title>SaltyFace — Robot Expression UI</title>
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<style>
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* {
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margin: 0;
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padding: 0;
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box-sizing: border-box;
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}
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body {
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background: #050510;
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color: #d1d5db;
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font-family: 'Monaco', 'Courier New', monospace;
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overflow: hidden;
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user-select: none;
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}
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.container {
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width: 100vw;
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height: 100vh;
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display: flex;
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flex-direction: column;
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background: #050510;
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}
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#canvas {
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flex: 1;
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display: block;
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background: #050510;
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touch-action: none;
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}
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.overlay {
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position: absolute;
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inset: 0;
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display: flex;
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flex-direction: column;
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justify-content: space-between;
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padding: 1rem;
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text-align: left;
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pointer-events: none;
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font-size: 0.75rem;
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line-height: 1.5;
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}
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.overlay.hidden {
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display: none;
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}
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.status-top-left {
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display: flex;
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flex-direction: column;
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gap: 0.5rem;
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}
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.status-item {
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display: flex;
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align-items: center;
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gap: 0.5rem;
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}
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.status-icon {
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width: 1rem;
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height: 1rem;
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border-radius: 50%;
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display: inline-block;
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}
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.battery-icon {
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color: #fbbf24;
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}
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.state-icon {
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color: #06b6d4;
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}
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.status-bottom-left {
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display: flex;
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flex-direction: column;
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gap: 0.5rem;
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}
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.distance-icon {
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color: #10b981;
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}
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|
||||
.health-icon {
|
||||
color: #ef4444;
|
||||
}
|
||||
|
||||
.status-top-right {
|
||||
position: absolute;
|
||||
top: 1rem;
|
||||
right: 1rem;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
align-items: flex-end;
|
||||
gap: 0.5rem;
|
||||
color: #06b6d4;
|
||||
}
|
||||
|
||||
.speed-display {
|
||||
font-size: 1rem;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.tap-hint {
|
||||
font-size: 0.65rem;
|
||||
color: #6b7280;
|
||||
}
|
||||
|
||||
.stats-container {
|
||||
position: absolute;
|
||||
bottom: 1rem;
|
||||
right: 1rem;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
gap: 0.25rem;
|
||||
font-size: 0.7rem;
|
||||
color: #9ca3af;
|
||||
background: rgba(5, 5, 16, 0.7);
|
||||
padding: 0.5rem;
|
||||
border-radius: 4px;
|
||||
border: 1px solid #1f2937;
|
||||
}
|
||||
|
||||
.connection-status {
|
||||
position: absolute;
|
||||
bottom: 1rem;
|
||||
left: 1rem;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 0.5rem;
|
||||
font-size: 0.7rem;
|
||||
color: #9ca3af;
|
||||
}
|
||||
|
||||
.connection-status.connected {
|
||||
color: #10b981;
|
||||
}
|
||||
|
||||
.connection-status.disconnected {
|
||||
color: #ef4444;
|
||||
}
|
||||
|
||||
.ws-status {
|
||||
width: 0.5rem;
|
||||
height: 0.5rem;
|
||||
border-radius: 50%;
|
||||
display: inline-block;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<div class="container">
|
||||
<canvas id="canvas" width="1024" height="600"></canvas>
|
||||
<div class="overlay" id="overlay">
|
||||
<div class="status-top-left">
|
||||
<div class="status-item">
|
||||
<span class="status-icon battery-icon">⚡</span>
|
||||
<span id="battery">--</span>%
|
||||
</div>
|
||||
<div class="status-item">
|
||||
<span class="status-icon state-icon">●</span>
|
||||
<span id="state">IDLE</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="status-bottom-left">
|
||||
<div class="status-item">
|
||||
<span class="status-icon distance-icon">●</span>
|
||||
<span id="distance">--</span>m
|
||||
</div>
|
||||
<div class="status-item">
|
||||
<span class="status-icon health-icon" id="health-icon">◇</span>
|
||||
<span id="health">--</span>%
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="status-top-right">
|
||||
<div class="speed-display" id="speed">-- m/s</div>
|
||||
<div class="tap-hint">[tap to hide]</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="connection-status" id="ws-status">
|
||||
<span class="ws-status" id="ws-dot"></span>
|
||||
<span id="ws-label">DISCONNECTED</span>
|
||||
</div>
|
||||
|
||||
<div class="stats-container">
|
||||
<div>Emotion: <span id="emotion">HAPPY</span></div>
|
||||
<div>Talking: <span id="talking">NO</span></div>
|
||||
<div>Audio: <span id="audio-level">0%</span></div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<script type="module">
|
||||
import { initSaltyFace } from './salty-face.js';
|
||||
|
||||
// Initialize SaltyFace web app
|
||||
initSaltyFace();
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
467
ui/social-bot/public/salty-face.js
Normal file
467
ui/social-bot/public/salty-face.js
Normal file
@ -0,0 +1,467 @@
|
||||
/**
|
||||
* SaltyFace Web App — Animated robot expression UI for Chromium kiosk
|
||||
*
|
||||
* Runs fullscreen in Cage Wayland compositor on MageDok 7" display
|
||||
* Replaces React desktop component with lightweight web app
|
||||
*
|
||||
* Features:
|
||||
* - 8 emotional states (happy, alert, confused, sleeping, excited, emergency, listening, talking)
|
||||
* - Canvas-based rendering (30fps target)
|
||||
* - ROS2 bridge integration via WebSocket (rosbridge)
|
||||
* - Touch-responsive status overlay
|
||||
* - 1024×600 fullscreen on MageDok display
|
||||
*/
|
||||
|
||||
// Emotion configuration
|
||||
const EMOTIONS = {
|
||||
HAPPY: 'happy',
|
||||
ALERT: 'alert',
|
||||
CONFUSED: 'confused',
|
||||
SLEEPING: 'sleeping',
|
||||
EXCITED: 'excited',
|
||||
EMERGENCY: 'emergency',
|
||||
LISTENING: 'listening',
|
||||
TALKING: 'talking',
|
||||
};
|
||||
|
||||
const EMOTION_CONFIG = {
|
||||
[EMOTIONS.HAPPY]: {
|
||||
eyeScale: 1.0,
|
||||
pupilPos: { x: 0, y: 0 },
|
||||
blink: true,
|
||||
blinkRate: 3000,
|
||||
color: '#10b981',
|
||||
},
|
||||
[EMOTIONS.ALERT]: {
|
||||
eyeScale: 1.3,
|
||||
pupilPos: { x: 0, y: -3 },
|
||||
blink: false,
|
||||
color: '#ef4444',
|
||||
},
|
||||
[EMOTIONS.CONFUSED]: {
|
||||
eyeScale: 1.1,
|
||||
pupilPos: { x: 0, y: 0 },
|
||||
blink: true,
|
||||
blinkRate: 1500,
|
||||
eyeWander: true,
|
||||
color: '#f59e0b',
|
||||
},
|
||||
[EMOTIONS.SLEEPING]: {
|
||||
eyeScale: 0.3,
|
||||
pupilPos: { x: 0, y: 0 },
|
||||
blink: false,
|
||||
isClosed: true,
|
||||
color: '#6b7280',
|
||||
},
|
||||
[EMOTIONS.EXCITED]: {
|
||||
eyeScale: 1.2,
|
||||
pupilPos: { x: 0, y: 0 },
|
||||
blink: true,
|
||||
blinkRate: 800,
|
||||
bounce: true,
|
||||
color: '#22c55e',
|
||||
},
|
||||
[EMOTIONS.EMERGENCY]: {
|
||||
eyeScale: 1.4,
|
||||
pupilPos: { x: 0, y: -4 },
|
||||
blink: false,
|
||||
color: '#dc2626',
|
||||
flash: true,
|
||||
},
|
||||
[EMOTIONS.LISTENING]: {
|
||||
eyeScale: 1.0,
|
||||
pupilPos: { x: 0, y: -2 },
|
||||
blink: true,
|
||||
blinkRate: 2000,
|
||||
color: '#0ea5e9',
|
||||
},
|
||||
[EMOTIONS.TALKING]: {
|
||||
eyeScale: 1.0,
|
||||
pupilPos: { x: 0, y: 0 },
|
||||
blink: true,
|
||||
blinkRate: 2500,
|
||||
color: '#06b6d4',
|
||||
},
|
||||
};
|
||||
|
||||
// Mouth animation frames
|
||||
const MOUTH_FRAMES = [
|
||||
{ open: 0.0, shape: 'closed' },
|
||||
{ open: 0.3, shape: 'smile-closed' },
|
||||
{ open: 0.5, shape: 'smile-open' },
|
||||
{ open: 0.7, shape: 'oh' },
|
||||
{ open: 0.9, shape: 'ah' },
|
||||
{ open: 0.7, shape: 'ee' },
|
||||
];
|
||||
|
||||
// ROS2 bridge WebSocket
|
||||
let ros = null;
|
||||
const WS_URL = 'ws://localhost:9090';
|
||||
let rosConnected = false;
|
||||
|
||||
// Animation state
|
||||
let state = {
|
||||
emotion: EMOTIONS.HAPPY,
|
||||
isTalking: false,
|
||||
isListening: false,
|
||||
audioLevel: 0,
|
||||
showOverlay: true,
|
||||
botState: {
|
||||
battery: 85,
|
||||
state: 'IDLE',
|
||||
distance: 0.0,
|
||||
speed: 0.0,
|
||||
health: 90,
|
||||
hasTarget: false,
|
||||
obstacles: 0,
|
||||
},
|
||||
frameCount: 0,
|
||||
isBlinking: false,
|
||||
mouthFrame: 0,
|
||||
eyeWanderOffset: { x: 0, y: 0 },
|
||||
};
|
||||
|
||||
// Drawing helpers
|
||||
function drawEye(ctx, x, y, radius, config, isBlinking) {
|
||||
ctx.fillStyle = '#1f2937';
|
||||
ctx.beginPath();
|
||||
ctx.arc(x, y, radius, 0, Math.PI * 2);
|
||||
ctx.fill();
|
||||
|
||||
if (isBlinking) {
|
||||
ctx.strokeStyle = config.color;
|
||||
ctx.lineWidth = 3;
|
||||
ctx.beginPath();
|
||||
ctx.moveTo(x - radius * 0.7, y);
|
||||
ctx.lineTo(x + radius * 0.7, y);
|
||||
ctx.stroke();
|
||||
} else {
|
||||
const pupilRadius = radius * (config.eyeScale / 2);
|
||||
ctx.fillStyle = config.color;
|
||||
ctx.beginPath();
|
||||
ctx.arc(x + config.pupilPos.x, y + config.pupilPos.y, pupilRadius, 0, Math.PI * 2);
|
||||
ctx.fill();
|
||||
|
||||
// Highlight
|
||||
ctx.fillStyle = 'rgba(255, 255, 255, 0.6)';
|
||||
ctx.beginPath();
|
||||
ctx.arc(x + config.pupilPos.x + pupilRadius * 0.4, y + config.pupilPos.y - pupilRadius * 0.4, pupilRadius * 0.3, 0, Math.PI * 2);
|
||||
ctx.fill();
|
||||
}
|
||||
}
|
||||
|
||||
function drawMouth(ctx, x, y, width, frame) {
|
||||
ctx.strokeStyle = '#f59e0b';
|
||||
ctx.lineWidth = 3;
|
||||
ctx.lineCap = 'round';
|
||||
|
||||
if (frame.shape === 'closed') {
|
||||
ctx.beginPath();
|
||||
ctx.moveTo(x - width * 0.4, y);
|
||||
ctx.lineTo(x + width * 0.4, y);
|
||||
ctx.stroke();
|
||||
} else if (frame.shape === 'smile-open' || frame.shape === 'smile-closed') {
|
||||
ctx.beginPath();
|
||||
ctx.arc(x, y, width * 0.5, 0, Math.PI, false);
|
||||
ctx.stroke();
|
||||
} else if (frame.shape === 'oh') {
|
||||
ctx.fillStyle = '#f59e0b';
|
||||
ctx.beginPath();
|
||||
ctx.arc(x, y, width * 0.35 * frame.open, 0, Math.PI * 2);
|
||||
ctx.fill();
|
||||
} else if (frame.shape === 'ah') {
|
||||
ctx.beginPath();
|
||||
ctx.moveTo(x - width * 0.3, y - width * 0.2 * frame.open);
|
||||
ctx.lineTo(x + width * 0.3, y - width * 0.2 * frame.open);
|
||||
ctx.lineTo(x + width * 0.2, y + width * 0.3 * frame.open);
|
||||
ctx.lineTo(x - width * 0.2, y + width * 0.3 * frame.open);
|
||||
ctx.closePath();
|
||||
ctx.stroke();
|
||||
}
|
||||
}
|
||||
|
||||
function drawFace(ctx, W, H) {
|
||||
const config = EMOTION_CONFIG[state.emotion] || EMOTION_CONFIG[EMOTIONS.HAPPY];
|
||||
|
||||
// Clear canvas
|
||||
ctx.fillStyle = 'rgba(5, 5, 16, 0.95)';
|
||||
ctx.fillRect(0, 0, W, H);
|
||||
|
||||
const centerX = W / 2;
|
||||
const centerY = H / 2.2;
|
||||
const eyeRadius = 40;
|
||||
const eyeSpacing = 80;
|
||||
|
||||
// Eye wandering (confused state)
|
||||
let eyeOffX = 0, eyeOffY = 0;
|
||||
if (config.eyeWander) {
|
||||
eyeOffX = Math.sin(state.frameCount * 0.02) * 8;
|
||||
eyeOffY = Math.cos(state.frameCount * 0.015) * 8;
|
||||
}
|
||||
|
||||
// Bounce (excited state)
|
||||
let bounceOffset = 0;
|
||||
if (config.bounce) {
|
||||
bounceOffset = Math.sin(state.frameCount * 0.08) * 6;
|
||||
}
|
||||
|
||||
// Draw eyes
|
||||
const eyeY = centerY + bounceOffset;
|
||||
drawEye(ctx, centerX - eyeSpacing, eyeY + eyeOffY, eyeRadius, config, state.isBlinking);
|
||||
drawEye(ctx, centerX + eyeSpacing, eyeY + eyeOffY, eyeRadius, config, state.isBlinking);
|
||||
|
||||
// Draw mouth (if talking)
|
||||
if (state.isTalking && !config.isClosed) {
|
||||
drawMouth(ctx, centerX, centerY + 80, 50, MOUTH_FRAMES[state.mouthFrame]);
|
||||
}
|
||||
|
||||
// Flash (emergency state)
|
||||
if (config.flash && Math.sin(state.frameCount * 0.1) > 0.7) {
|
||||
ctx.fillStyle = 'rgba(220, 38, 38, 0.3)';
|
||||
ctx.fillRect(0, 0, W, H);
|
||||
}
|
||||
|
||||
state.frameCount++;
|
||||
}
|
||||
|
||||
// ROS2 Bridge functions
|
||||
function initRosBridge() {
|
||||
console.log('[SaltyFace] Connecting to ROS bridge at', WS_URL);
|
||||
|
||||
const ROSLIB = window.ROSLIB;
|
||||
if (!ROSLIB) {
|
||||
console.error('[SaltyFace] ROSLIB not loaded');
|
||||
return false;
|
||||
}
|
||||
|
||||
ros = new ROSLIB.Ros({
|
||||
url: WS_URL,
|
||||
});
|
||||
|
||||
ros.on('connection', () => {
|
||||
console.log('[SaltyFace] Connected to ROS bridge');
|
||||
rosConnected = true;
|
||||
updateWSStatus(true);
|
||||
subscribeToRosTopics();
|
||||
});
|
||||
|
||||
ros.on('error', (error) => {
|
||||
console.error('[SaltyFace] ROS error:', error);
|
||||
rosConnected = false;
|
||||
updateWSStatus(false);
|
||||
});
|
||||
|
||||
ros.on('close', () => {
|
||||
console.log('[SaltyFace] ROS connection closed');
|
||||
rosConnected = false;
|
||||
updateWSStatus(false);
|
||||
});
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
function subscribeToRosTopics() {
|
||||
if (!ros || !rosConnected) return;
|
||||
|
||||
// Subscribe to robot state
|
||||
const stateTopic = new ROSLIB.Topic({
|
||||
ros,
|
||||
name: '/saltybot/state',
|
||||
messageType: 'std_msgs/String',
|
||||
});
|
||||
stateTopic.subscribe((msg) => {
|
||||
try {
|
||||
const data = JSON.parse(msg.data);
|
||||
state.botState.state = data.state || 'IDLE';
|
||||
|
||||
if (data.state === 'EMERGENCY') {
|
||||
state.emotion = EMOTIONS.EMERGENCY;
|
||||
} else if (data.state === 'TRACKING') {
|
||||
state.emotion = EMOTIONS.HAPPY;
|
||||
} else if (data.state === 'SEARCHING') {
|
||||
state.emotion = EMOTIONS.CONFUSED;
|
||||
} else if (data.state === 'IDLE') {
|
||||
state.emotion = EMOTIONS.HAPPY;
|
||||
}
|
||||
} catch (e) {}
|
||||
});
|
||||
|
||||
// Battery topic
|
||||
const batteryTopic = new ROSLIB.Topic({
|
||||
ros,
|
||||
name: '/saltybot/battery',
|
||||
messageType: 'std_msgs/Float32',
|
||||
});
|
||||
batteryTopic.subscribe((msg) => {
|
||||
state.botState.battery = Math.round(msg.data);
|
||||
updateUI();
|
||||
});
|
||||
|
||||
// Target tracking
|
||||
const targetTopic = new ROSLIB.Topic({
|
||||
ros,
|
||||
name: '/saltybot/target_track',
|
||||
messageType: 'geometry_msgs/Pose',
|
||||
});
|
||||
targetTopic.subscribe((msg) => {
|
||||
state.botState.hasTarget = !!msg;
|
||||
if (msg) state.emotion = EMOTIONS.EXCITED;
|
||||
});
|
||||
|
||||
// Obstacles
|
||||
const obstacleTopic = new ROSLIB.Topic({
|
||||
ros,
|
||||
name: '/saltybot/obstacles',
|
||||
messageType: 'sensor_msgs/LaserScan',
|
||||
});
|
||||
obstacleTopic.subscribe((msg) => {
|
||||
const obstacleCount = msg?.ranges?.filter((r) => r < 0.5).length || 0;
|
||||
state.botState.obstacles = obstacleCount;
|
||||
if (obstacleCount > 0) state.emotion = EMOTIONS.ALERT;
|
||||
});
|
||||
|
||||
// Speech
|
||||
const speakingTopic = new ROSLIB.Topic({
|
||||
ros,
|
||||
name: '/social/speech/is_speaking',
|
||||
messageType: 'std_msgs/Bool',
|
||||
});
|
||||
speakingTopic.subscribe((msg) => {
|
||||
state.isTalking = msg.data || false;
|
||||
if (msg.data) state.emotion = EMOTIONS.TALKING;
|
||||
});
|
||||
|
||||
const listeningTopic = new ROSLIB.Topic({
|
||||
ros,
|
||||
name: '/social/speech/is_listening',
|
||||
messageType: 'std_msgs/Bool',
|
||||
});
|
||||
listeningTopic.subscribe((msg) => {
|
||||
state.isListening = msg.data || false;
|
||||
if (msg.data) state.emotion = EMOTIONS.LISTENING;
|
||||
});
|
||||
|
||||
// Audio level
|
||||
const audioTopic = new ROSLIB.Topic({
|
||||
ros,
|
||||
name: '/saltybot/audio_level',
|
||||
messageType: 'std_msgs/Float32',
|
||||
});
|
||||
audioTopic.subscribe((msg) => {
|
||||
state.audioLevel = msg.data || 0;
|
||||
});
|
||||
}
|
||||
|
||||
function updateWSStatus(connected) {
|
||||
const dot = document.getElementById('ws-dot');
|
||||
const label = document.getElementById('ws-label');
|
||||
const container = document.getElementById('ws-status');
|
||||
|
||||
if (connected) {
|
||||
dot.style.backgroundColor = '#10b981';
|
||||
label.textContent = 'CONNECTED';
|
||||
container.classList.add('connected');
|
||||
container.classList.remove('disconnected');
|
||||
} else {
|
||||
dot.style.backgroundColor = '#ef4444';
|
||||
label.textContent = 'DISCONNECTED';
|
||||
container.classList.remove('connected');
|
||||
container.classList.add('disconnected');
|
||||
}
|
||||
}
|
||||
|
||||
function updateUI() {
|
||||
document.getElementById('battery').textContent = state.botState.battery;
|
||||
document.getElementById('state').textContent = state.botState.state;
|
||||
document.getElementById('distance').textContent = state.botState.distance.toFixed(1);
|
||||
document.getElementById('speed').textContent = state.botState.speed.toFixed(1) + ' m/s';
|
||||
document.getElementById('health').textContent = state.botState.health;
|
||||
document.getElementById('emotion').textContent = state.emotion.toUpperCase();
|
||||
document.getElementById('talking').textContent = state.isTalking ? 'YES' : 'NO';
|
||||
document.getElementById('audio-level').textContent = Math.round(state.audioLevel * 100) + '%';
|
||||
|
||||
// Health color
|
||||
const healthIcon = document.getElementById('health-icon');
|
||||
if (state.botState.health > 75) {
|
||||
healthIcon.style.color = '#10b981';
|
||||
} else if (state.botState.health > 50) {
|
||||
healthIcon.style.color = '#f59e0b';
|
||||
} else {
|
||||
healthIcon.style.color = '#ef4444';
|
||||
}
|
||||
}
|
||||
|
||||
// Animation loop
|
||||
function animationLoop(canvas, ctx) {
|
||||
drawFace(ctx, canvas.width, canvas.height);
|
||||
requestAnimationFrame(() => animationLoop(canvas, ctx));
|
||||
}
|
||||
|
||||
// Blinking animation
|
||||
function startBlinking() {
|
||||
const config = EMOTION_CONFIG[state.emotion] || EMOTION_CONFIG[EMOTIONS.HAPPY];
|
||||
if (!config.blink || config.isClosed) return;
|
||||
|
||||
setInterval(() => {
|
||||
state.isBlinking = true;
|
||||
setTimeout(() => {
|
||||
state.isBlinking = false;
|
||||
}, 150);
|
||||
}, config.blinkRate);
|
||||
}
|
||||
|
||||
// Mouth animation
|
||||
function startMouthAnimation() {
|
||||
setInterval(() => {
|
||||
if (!state.isTalking) {
|
||||
state.mouthFrame = 0;
|
||||
return;
|
||||
}
|
||||
state.mouthFrame = (state.mouthFrame + 1) % MOUTH_FRAMES.length;
|
||||
}, 100);
|
||||
}
|
||||
|
||||
// Initialize
|
||||
export function initSaltyFace() {
|
||||
const canvas = document.getElementById('canvas');
|
||||
const ctx = canvas.getContext('2d');
|
||||
const overlay = document.getElementById('overlay');
|
||||
|
||||
// Start animation loop
|
||||
animationLoop(canvas, ctx);
|
||||
|
||||
// Start blinking
|
||||
startBlinking();
|
||||
|
||||
// Start mouth animation
|
||||
startMouthAnimation();
|
||||
|
||||
// Tap to toggle overlay
|
||||
canvas.addEventListener('click', () => {
|
||||
state.showOverlay = !state.showOverlay;
|
||||
overlay.classList.toggle('hidden', !state.showOverlay);
|
||||
});
|
||||
|
||||
// Prevent context menu on long press
|
||||
canvas.addEventListener('contextmenu', (e) => e.preventDefault());
|
||||
|
||||
// Initialize ROS bridge
|
||||
// Load ROSLIB dynamically
|
||||
const script = document.createElement('script');
|
||||
script.src = 'https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js';
|
||||
script.onload = () => {
|
||||
initRosBridge();
|
||||
};
|
||||
script.onerror = () => {
|
||||
console.warn('[SaltyFace] Failed to load ROSLIB from CDN, trying localhost');
|
||||
setTimeout(() => {
|
||||
initRosBridge();
|
||||
}, 2000);
|
||||
};
|
||||
document.head.appendChild(script);
|
||||
|
||||
// Update UI periodically
|
||||
setInterval(updateUI, 500);
|
||||
|
||||
console.log('[SaltyFace] Web app initialized');
|
||||
}
|
||||
129
ui/social-bot/server.js
Executable file
129
ui/social-bot/server.js
Executable file
@ -0,0 +1,129 @@
|
||||
#!/usr/bin/env node
|
||||
/**
|
||||
* SaltyFace Web App Server — Serves static HTML/JS to Chromium kiosk
|
||||
*
|
||||
* Lightweight HTTP server for SaltyFace web UI
|
||||
* - Runs on localhost:3000 (configurable)
|
||||
* - Serves public/ directory
|
||||
* - Enables CORS for ROS bridge WebSocket
|
||||
* - Suitable for systemd service or ROS2 launch
|
||||
*
|
||||
* Usage:
|
||||
* node server.js [--port 3000] [--host 127.0.0.1]
|
||||
*/
|
||||
|
||||
const http = require('http');
|
||||
const fs = require('fs');
|
||||
const path = require('path');
|
||||
const url = require('url');
|
||||
|
||||
// Configuration
|
||||
const PORT = parseInt(process.argv.find(arg => arg.startsWith('--port='))?.split('=')[1] || 3000);
|
||||
const HOST = process.argv.find(arg => arg.startsWith('--host='))?.split('=')[1] || '0.0.0.0';
|
||||
const PUBLIC_DIR = path.join(__dirname, 'public');
|
||||
|
||||
// MIME types
|
||||
const MIME_TYPES = {
|
||||
'.html': 'text/html; charset=utf-8',
|
||||
'.js': 'application/javascript; charset=utf-8',
|
||||
'.css': 'text/css; charset=utf-8',
|
||||
'.json': 'application/json',
|
||||
'.png': 'image/png',
|
||||
'.jpg': 'image/jpeg',
|
||||
'.gif': 'image/gif',
|
||||
'.svg': 'image/svg+xml',
|
||||
'.woff': 'font/woff',
|
||||
'.woff2': 'font/woff2',
|
||||
'.ttf': 'font/ttf',
|
||||
};
|
||||
|
||||
// HTTP server
|
||||
const server = http.createServer((req, res) => {
|
||||
// CORS headers for ROS bridge
|
||||
res.setHeader('Access-Control-Allow-Origin', '*');
|
||||
res.setHeader('Access-Control-Allow-Methods', 'GET, HEAD, OPTIONS');
|
||||
res.setHeader('Access-Control-Allow-Headers', 'Content-Type');
|
||||
|
||||
if (req.method === 'OPTIONS') {
|
||||
res.writeHead(200);
|
||||
res.end();
|
||||
return;
|
||||
}
|
||||
|
||||
// Parse request URL
|
||||
const parsedUrl = url.parse(req.url, true);
|
||||
let pathname = parsedUrl.pathname;
|
||||
|
||||
// Default to index.html for root
|
||||
if (pathname === '/') {
|
||||
pathname = '/index.html';
|
||||
}
|
||||
|
||||
// Security: prevent directory traversal
|
||||
const filePath = path.normalize(path.join(PUBLIC_DIR, pathname));
|
||||
if (!filePath.startsWith(PUBLIC_DIR)) {
|
||||
res.writeHead(403, { 'Content-Type': 'text/plain' });
|
||||
res.end('Access denied');
|
||||
return;
|
||||
}
|
||||
|
||||
// Check if file exists
|
||||
fs.stat(filePath, (err, stats) => {
|
||||
if (err || !stats.isFile()) {
|
||||
// File not found
|
||||
console.log(`[SaltyFace] 404 ${pathname}`);
|
||||
res.writeHead(404, { 'Content-Type': 'text/plain' });
|
||||
res.end('File not found');
|
||||
return;
|
||||
}
|
||||
|
||||
// Determine MIME type
|
||||
const ext = path.extname(filePath).toLowerCase();
|
||||
const mimeType = MIME_TYPES[ext] || 'application/octet-stream';
|
||||
|
||||
// Serve file
|
||||
res.writeHead(200, {
|
||||
'Content-Type': mimeType,
|
||||
'Content-Length': stats.size,
|
||||
'Cache-Control': 'public, max-age=3600',
|
||||
});
|
||||
|
||||
fs.createReadStream(filePath).pipe(res);
|
||||
console.log(`[SaltyFace] 200 ${pathname} (${mimeType})`);
|
||||
});
|
||||
});
|
||||
|
||||
// Start server
|
||||
server.listen(PORT, HOST, () => {
|
||||
console.log(`
|
||||
╔═══════════════════════════════════════════════════════════╗
|
||||
║ SaltyFace Web App Server — Running ║
|
||||
║ URL: http://${HOST === '0.0.0.0' ? 'localhost' : HOST}:${PORT} │
|
||||
║ Root: ${PUBLIC_DIR} │
|
||||
║ Serving SaltyFace UI for Chromium kiosk ║
|
||||
╚═══════════════════════════════════════════════════════════╝
|
||||
`);
|
||||
});
|
||||
|
||||
// Graceful shutdown
|
||||
process.on('SIGINT', () => {
|
||||
console.log('\n[SaltyFace] Shutting down...');
|
||||
server.close(() => {
|
||||
console.log('[SaltyFace] Server closed');
|
||||
process.exit(0);
|
||||
});
|
||||
});
|
||||
|
||||
process.on('SIGTERM', () => {
|
||||
console.log('[SaltyFace] Received SIGTERM, shutting down...');
|
||||
server.close(() => {
|
||||
console.log('[SaltyFace] Server closed');
|
||||
process.exit(0);
|
||||
});
|
||||
});
|
||||
|
||||
// Error handling
|
||||
process.on('uncaughtException', (err) => {
|
||||
console.error('[SaltyFace] Uncaught exception:', err);
|
||||
process.exit(1);
|
||||
});
|
||||
Loading…
x
Reference in New Issue
Block a user