Features:
- Subscribes to /diagnostics (diagnostic_msgs/DiagnosticArray)
- Hardware status cards per subsystem with color-coded health
- Real-time error and warning counts
- Expandable diagnostic cards with detailed key-value pairs
- Diagnostic status timeline with timestamps
- Aggregated system health summary
- Status indicators: OK (green), WARNING (yellow), ERROR (red), STALE (gray)
- Hardware Status Display
* Per-subsystem diagnostic cards
* Status level with color coding
* Expandable details with key values
* Hardware ID tracking
* Name and message display
- Health Summary Card
* Total diagnostic count
* OK/WARNING/ERROR/STALE breakdowns
* Overall system health status
* Visual status indicator
- Timeline and History
* Recent status timeline (10 latest events)
* Timestamp tracking
* Status transitions
* Scrollable history
- Status Legend
* Color-coded reference guide
* Status descriptions
* Quick status lookup
Integration:
- Added to MONITORING tab group as first tab (highest priority)
- Uses subscribe hook for real-time updates
- Dark theme with comprehensive status visualization
- Max 100 diagnostic events in history
Build: 124 modules, no errors
Main bundle: 264.31 KB
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Critical bug fix:
- Added missing StatusHeader import (used in JSX line 215)
- Added missing LogViewer import (used in JSX line 291)
- Added missing MotorCurrentGraph import (used in JSX line 264)
These imports were referenced in JSX but not imported, causing dashboard crashes on load.
Build verification:
- 122 modules, all compiled successfully
- No errors or warnings
- Bundle: 255.38 KB main
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Polls /dev/video* at 2 Hz, drives a three-state machine
(connected/disconnected/restarting) and publishes to
/saltybot/camera_status (std_msgs/String). Reconnects within
restart_grace_s (5 s) → 'restarting' held for restart_hold_s (2 s)
to signal downstream capture pipelines to restart. Scan function
is injected for offline testing. 82/82 tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Features:
- Virtual dual-stick gamepad interface
* Left stick: linear velocity (forward/backward)
* Right stick: angular velocity (turn left/right)
- Canvas-based rendering with real-time visual feedback
- Velocity vector visualization on sticks
- 10% deadzone on both axes for dead-stick detection
- WASD keyboard fallback for manual driving
* W/S: forward/backward
* A/D: turn left/right
* Smooth blending between gamepad and keyboard input
- Speed limiter slider (0-100%)
* Real-time control of max velocity
* Disabled during e-stop state
- Emergency stop button (e-stop)
* Immediate velocity zeroing
* Visual status indicator (red when active)
* Prevents accidental motion during e-stop
- ROS Integration
* Publishes geometry_msgs/Twist to /cmd_vel
* Max linear velocity: 0.5 m/s
* Max angular velocity: 1.0 rad/s
* 50ms update rate
- UI Features
* Real-time velocity display (m/s and rad/s)
* Status bar with control mode indicator
* Speed limit percentage display
* Control info with keyboard fallback guide
Integration:
- Replaces previous split-view control layout
- Enhanced TELEMETRY/control tab
- Comprehensive gamepad + keyboard control system
Build: 120 modules, no errors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Energy-gated log-mel + cosine-similarity wake-word node. Subscribes to
/social/speech/audio_raw (PCM-16 UInt8MultiArray), maintains a 1.5 s
sliding ring buffer, runs detection every 100 ms; fires Bool(True) on
/saltybot/wake_word_detected with 2 s cooldown. Template loaded from
.npy file; passive (no detections) when template_path is empty.
91/91 tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Features:
- Enumerate active ROS nodes from /rosout activity
- Real-time node status tracking (alive/dead based on heartbeat)
- Heartbeat timeout: 5 seconds without updates = dead
- Display node name, status, uptime, and last seen timestamp
- Color-coded status indicators (green=alive, gray=dead)
- Sortable table with node statistics
- Summary card showing alive/dead node counts
- Periodic status polling every 2 seconds
Integration:
- Added to MONITORING tab group as 'Nodes' tab
- Subscribes to /rosout (rcl_interfaces/Log) to detect active nodes
- Real-time updates with smooth transitions
Build: 119 modules, no errors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Features:
- Circular gauge visualization for CPU and GPU temperatures
- Color-coded temperature zones: green <60°C, yellow 60-75°C, red >75°C
- Real-time needle pointer animation
- Fan speed percentage display for each sensor
- Peak temperature tracking and max reached indicator
- Thermal alert status (Normal/Caution/Critical)
- ROS subscription to /saltybot/thermal_status
- Integrated into TELEMETRY tab group
Build: 118 modules, no errors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements ROS2 adaptive PID gain scheduler for SaltyBot with:
- Subscribes to /saltybot/speed_scale for speed conditions
- Subscribes to /saltybot/terrain_roughness for surface conditions
- Adjusts PID gains dynamically:
* P gain increases with terrain roughness (better response on rough)
* D gain decreases at low speed (prevent oscillation when slow)
* I gain scales with both conditions for stability
- Publishes Float32MultiArray [Kp, Ki, Kd] on /saltybot/pid_gains
- Configurable scaling factors for each gain modulation
- Includes 18+ unit tests for gain scheduling logic
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Real-time motor current visualization with:
- Subscribes to /saltybot/motor_currents for dual-motor current data
- Rolling 60-second history window with automatic data culling
- Dual-axis line chart for left (cyan) and right (amber) motor amps
- Canvas-based rendering for performance
- Thermal warning threshold line (25A, configurable)
- Real-time statistics:
* Current draw for left and right motors
* Peak current tracking over 60-second window
* Average current calculation
* Thermal status indicator with warning badge
- Color-coded thermal alerts:
* Red background when threshold exceeded
* Warning indicator and message
- Grid overlay, axis labels, time labels, legend
- Takes absolute value of currents (handles reverse direction)
Integrated into TELEMETRY tab group as 'Motor Current' tab.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Real-time motor current visualization with:
- Subscribes to /saltybot/motor_currents for dual-motor current data
- Rolling 60-second history window with automatic data culling
- Dual-axis line chart:
* Left motor current (cyan) in Amps
* Right motor current (amber) in Amps
- Canvas-based rendering for performance
- Thermal warning threshold line (25A, configurable):
* Dashed red line overlay on chart
* Configurable threshold constant for motor specs
* Auto-detects thermal warnings when threshold exceeded
- Real-time statistics display:
* Current draw for left and right motors (real-time)
* Peak current tracking over 60-second window
* Average current calculation
* Thermal status indicator with warning badge
- Color-coded thermal alerts:
* Red background when threshold exceeded
* Warning indicator with icon
* Left/right motor temperature monitoring
- Grid overlay, axis labels, time labels, legend
- Takes absolute value of currents (handles reverse direction)
Integrated into TELEMETRY tab group as 'Motor Current' tab.
Follows established canvas rendering patterns from BatteryChart.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements ROS2 geofence enforcer for SaltyBot with:
- Loads polygon geofence from params (list of x/y vertices)
- Subscribes to /odom for real-time robot position
- Point-in-polygon ray casting algorithm for boundary checking
- Publishes Bool on /saltybot/geofence_breach on boundary violation
- Optional enforcement flag for cmd_vel zeroing
- Configurable safety margin
- Includes 20+ unit tests for geometry and breach detection
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements STM32F722 driver for WS2812 NeoPixel 8-LED ring with finite state machine.
Features:
- 8 operational states with animations:
* BOOT: Blue pulse (0.5 Hz)
* IDLE: Green breathe (0.5 Hz)
* ARMED: Solid green
* NAV: Cyan spin (1 Hz)
* ERROR: Red flash (2 Hz)
* LOW_BATT: Orange blink (1 Hz)
* CHARGING: Green fill (1 Hz)
* ESTOP: Red solid
- Non-blocking tick-based animation system
- State transitions via API
- PWM control on PB4 (TIM3_CH1) at 800 kHz
- Color interpolation for smooth effects
All 25 unit tests passing covering state transitions, animations, timing, and edge cases.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
