jetson/ros2_ws/src/saltybot_accessibility_mode/config/accessibility_params.yaml

@@ -1,58 +0,0 @@
-# Accessibility Mode Configuration for SaltyBot
-# Deaf/hearing-impaired user interface with speech-to-text, keyboard, and TTS
-
-accessibility_mode:
-  ros__parameters:
-    # Enable/disable accessibility mode
-    enabled: true
-
-    # Maximum number of transcript entries to display
-    max_display_history: 10
-
-    # Auto-speak-back confirmation for STT input
-    auto_tts: true
-
-    # Enable touch keyboard input
-    keyboard_enabled: true
-
-    # Timeout for display before clearing (seconds)
-    display_timeout_s: 30.0
-
-    # Audio settings
-    audio:
-      # PulseAudio sink for TTS output (MageDok HDMI speakers)
-      output_sink: "alsa_output.pci-0000_00_1d.0.hdmi-stereo"
-      # Volume level (0-1)
-      volume: 0.8
-
-    # STT settings (Whisper integration)
-    stt:
-      # Whisper model size: tiny, base, small, medium, large
-      model: "base"
-      # Language code (empty = auto-detect)
-      language: ""
-      # Enable partial results display
-      show_partial: true
-      # Device: "cuda" for GPU, "cpu" for CPU-only
-      device: "cuda"
-
-    # TTS settings (Piper integration)
-    tts:
-      # Voice model (en_US-lessac-medium by default)
-      voice_model: "en_US-lessac-medium"
-      # Sample rate (Hz)
-      sample_rate: 22050
-      # Enable streaming output
-      streaming_enabled: true
-
-    # Display settings for MageDok 7in
-    display:
-      # Resolution (1024x600)
-      width: 1024
-      height: 600
-      # Refresh rate (Hz)
-      refresh_rate: 60
-      # Font size for transcript (pixels)
-      transcript_font_size: 16
-      # Background color (CSS color)
-      background_color: "#FFFFFF"

jetson/ros2_ws/src/saltybot_accessibility_mode/launch/accessibility_mode.launch.py

@@ -1,54 +0,0 @@
-"""Launch file for accessibility mode on MageDok 7in display."""
-
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
-import os
-from ament_index_python.packages import get_package_share_directory
-
-
-def generate_launch_description():
-    """Generate launch description for accessibility mode."""
-    pkg_dir = get_package_share_directory("saltybot_accessibility_mode")
-    config_file = os.path.join(
-        pkg_dir, "config", "accessibility_params.yaml"
-    )
-
-    return LaunchDescription(
-        [
-            DeclareLaunchArgument(
-                "config_file",
-                default_value=config_file,
-                description="Path to configuration YAML file",
-            ),
-            DeclareLaunchArgument(
-                "ui_port",
-                default_value="8080",
-                description="Port for UI server (MageDok display)",
-            ),
-            # Accessibility mode coordinator node
-            Node(
-                package="saltybot_accessibility_mode",
-                executable="accessibility_mode_node",
-                name="accessibility_mode",
-                output="screen",
-                parameters=[LaunchConfiguration("config_file")],
-                remappings=[
-                    ("/social/speech/transcript", "/social/speech/transcript"),
-                    ("/accessibility/keyboard_input", "/accessibility/keyboard_input"),
-                    ("/social/conversation/request", "/social/conversation/request"),
-                ],
-            ),
-            # Web UI server for touch keyboard and STT display
-            Node(
-                package="saltybot_accessibility_mode",
-                executable="ui_server",
-                name="accessibility_ui",
-                output="screen",
-                parameters=[
-                    {"port": LaunchConfiguration("ui_port")},
-                ],
-            ),
-        ]
-    )

jetson/ros2_ws/src/saltybot_accessibility_mode/package.xml

@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>saltybot_accessibility_mode</name>
-  <version>0.1.0</version>
-  <description>
-    Deaf/accessibility mode with speech-to-text display, touch keyboard overlay, and TTS output.
-    Integrates Whisper STT from speech_pipeline_node and Piper TTS for MageDok 7in display.
-  </description>
-  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
-  <license>MIT</license>
-
-  <depend>rclpy</depend>
-  <depend>geometry_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>saltybot_social_msgs</depend>
-
-  <buildtool_depend>ament_python</buildtool_depend>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/__init__.py

@@ -1 +0,0 @@
-"""SaltyBot Accessibility Mode package."""

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/accessibility_mode_node.py

@@ -1,176 +0,0 @@
-#!/usr/bin/env python3
-"""Deaf/accessibility mode node for SaltyBot.
-
-Integrates speech-to-text (Whisper), touch keyboard input, and TTS output.
-Provides accessible interface for hearing-impaired users via MageDok 7in display.
-
-Subscribed topics:
-  /social/speech/transcript (SpeechTranscript) - STT from speech pipeline
-  /accessibility/keyboard_input (String) - Touch keyboard input
-
-Published topics:
-  /accessibility/text_display (String) - Text to display on screen
-  /social/conversation/request (ConversationRequest) - TTS request
-  /accessibility/mode_state (Bool) - Accessibility mode enabled state
-"""
-
-import json
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String, Bool
-from saltybot_social_msgs.msg import SpeechTranscript, ConversationRequest
-
-
-class AccessibilityModeNode(Node):
-    """Deaf/accessibility mode coordinator."""
-
-    def __init__(self):
-        super().__init__("accessibility_mode")
-
-        # Parameters
-        self.declare_parameter("enabled", True)
-        self.declare_parameter("max_display_history", 10)
-        self.declare_parameter("auto_tts", True)
-        self.declare_parameter("keyboard_enabled", True)
-        self.declare_parameter("display_timeout_s", 30.0)
-
-        self.enabled = self.get_parameter("enabled").value
-        self.max_history = self.get_parameter("max_display_history").value
-        self.auto_tts = self.get_parameter("auto_tts").value
-        self.keyboard_enabled = self.get_parameter("keyboard_enabled").value
-        self.display_timeout = self.get_parameter("display_timeout_s").value
-
-        # State
-        self.display_history = []
-        self.last_transcript = ""
-        self.keyboard_buffer = ""
-
-        # Subscriptions
-        self.create_subscription(
-            SpeechTranscript,
-            "/social/speech/transcript",
-            self._on_transcript,
-            10,
-        )
-        self.create_subscription(
-            String, "/accessibility/keyboard_input", self._on_keyboard_input, 10
-        )
-
-        # Publishers
-        self.pub_display = self.create_publisher(String, "/accessibility/text_display", 10)
-        self.pub_tts = self.create_publisher(
-            ConversationRequest, "/social/conversation/request", 10
-        )
-        self.pub_state = self.create_publisher(Bool, "/accessibility/mode_state", 10)
-
-        # Publish initial state
-        state_msg = Bool(data=self.enabled)
-        self.pub_state.publish(state_msg)
-
-        self.get_logger().info(
-            f"Accessibility mode initialized: "
-            f"enabled={self.enabled}, auto_tts={self.auto_tts}, "
-            f"keyboard={self.keyboard_enabled}"
-        )
-
-    def _on_transcript(self, msg: SpeechTranscript) -> None:
-        """Handle incoming speech-to-text transcript."""
-        if not self.enabled:
-            return
-
-        transcript = msg.text.strip()
-        if not transcript:
-            return
-
-        self.last_transcript = transcript
-        self.keyboard_buffer = ""  # Clear keyboard buffer on new voice input
-
-        # Add to display history
-        self.display_history.append({"type": "stt", "text": transcript, "final": msg.is_final})
-        if len(self.display_history) > self.max_history:
-            self.display_history.pop(0)
-
-        # Update display
-        self._update_display()
-
-        # Auto-speak back for confirmation (optional)
-        if self.auto_tts and msg.is_final:
-            self._send_tts_confirmation(transcript)
-
-        self.get_logger().info(f"STT: {transcript}")
-
-    def _on_keyboard_input(self, msg: String) -> None:
-        """Handle touch keyboard input."""
-        if not self.enabled or not self.keyboard_enabled:
-            return
-
-        text = msg.data.strip()
-
-        if text == "[CLEAR]":
-            # Clear keyboard buffer
-            self.keyboard_buffer = ""
-        elif text == "[SEND]":
-            # Send keyboard text as TTS request
-            if self.keyboard_buffer:
-                self._send_tts_request(self.keyboard_buffer)
-                self.display_history.append(
-                    {"type": "keyboard", "text": self.keyboard_buffer, "final": True}
-                )
-                if len(self.display_history) > self.max_history:
-                    self.display_history.pop(0)
-                self.keyboard_buffer = ""
-        elif text == "[BACKSPACE]":
-            # Remove last character
-            self.keyboard_buffer = self.keyboard_buffer[:-1]
-        elif text == "[SPACE]":
-            # Add space
-            self.keyboard_buffer += " "
-        else:
-            # Regular character input
-            self.keyboard_buffer += text
-
-        # Update display
-        self._update_display()
-        self.get_logger().info(f"Keyboard: {self.keyboard_buffer}")
-
-    def _update_display(self) -> None:
-        """Update text display with history and keyboard buffer."""
-        display_data = {
-            "history": self.display_history,
-            "keyboard_buffer": self.keyboard_buffer,
-            "mode": "accessibility",
-            "timestamp": self.get_clock().now().to_msg(),
-        }
-
-        msg = String(data=json.dumps(display_data))
-        self.pub_display.publish(msg)
-
-    def _send_tts_confirmation(self, transcript: str) -> None:
-        """Send confirmation TTS."""
-        msg = ConversationRequest()
-        msg.text = f"You said: {transcript}"
-        msg.language = "en"
-        self.pub_tts.publish(msg)
-
-    def _send_tts_request(self, text: str) -> None:
-        """Send custom TTS request."""
-        msg = ConversationRequest()
-        msg.text = text
-        msg.language = "en"
-        self.pub_tts.publish(msg)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = AccessibilityModeNode()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/test_accessibility.py

@@ -1,50 +0,0 @@
-"""Unit tests for accessibility mode node."""
-
-import pytest
-
-
-def test_accessibility_node_init():
-    """Test accessibility mode node initialization."""
-    import rclpy
-
-    rclpy.init(allow_reuse=True)
-    from saltybot_accessibility_mode.accessibility_mode_node import AccessibilityModeNode
-
-    node = AccessibilityModeNode()
-    assert node.enabled is True
-    assert node.keyboard_enabled is True
-    assert len(node.display_history) == 0
-    node.destroy_node()
-
-
-def test_keyboard_buffer():
-    """Test keyboard buffer management."""
-    import rclpy
-
-    rclpy.init(allow_reuse=True)
-    from saltybot_accessibility_mode.accessibility_mode_node import AccessibilityModeNode
-
-    node = AccessibilityModeNode()
-    node.keyboard_buffer = "HELLO"
-    assert node.keyboard_buffer == "HELLO"
-    node.destroy_node()
-
-
-def test_history_limit():
-    """Test display history limit."""
-    import rclpy
-
-    rclpy.init(allow_reuse=True)
-    from saltybot_accessibility_mode.accessibility_mode_node import AccessibilityModeNode
-
-    node = AccessibilityModeNode()
-    # Add more entries than max_history
-    for i in range(15):
-        node.display_history.append({"type": "test", "text": f"Entry {i}"})
-
-    assert len(node.display_history) <= node.max_history
-    node.destroy_node()
-
-
-if __name__ == "__main__":
-    pytest.main([__file__, "-v"])

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/ui_server.py

@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-"""Web UI server for accessibility mode on MageDok display.
-
-Serves touch keyboard interface and displays STT transcripts.
-Communicates with accessibility_mode_node via ROS2.
-"""
-
-import json
-import threading
-from http.server import HTTPServer, SimpleHTTPRequestHandler
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-
-
-class AccessibilityUIHandler(SimpleHTTPRequestHandler):
-    """HTTP request handler for accessibility UI."""
-
-    def do_GET(self):
-        """Serve HTML/CSS/JS files."""
-        if self.path == "/" or self.path == "/index.html":
-            self.path = "/accessibility.html"
-        return super().do_GET()
-
-    def log_message(self, format, *args):
-        """Suppress request logging."""
-        pass
-
-
-class UIServerNode(Node):
-    """ROS2 node for accessibility UI server."""
-
-    def __init__(self, port=8000):
-        super().__init__("accessibility_ui_server")
-
-        self.port = port
-        self.display_data = {}
-
-        # Subscription to display updates
-        self.create_subscription(
-            String, "/accessibility/text_display", self._on_display_update, 10
-        )
-
-        # Publisher for keyboard input
-        self.pub_keyboard = self.create_publisher(String, "/accessibility/keyboard_input", 10)
-
-        # Start HTTP server in background thread
-        self.server = HTTPServer(("0.0.0.0", port), AccessibilityUIHandler)
-        self.server_thread = threading.Thread(target=self.server.serve_forever, daemon=True)
-        self.server_thread.start()
-
-        self.get_logger().info(f"Accessibility UI server listening on port {port}")
-
-    def _on_display_update(self, msg: String) -> None:
-        """Store display data for serving to web clients."""
-        try:
-            self.display_data = json.loads(msg.data)
-        except json.JSONDecodeError:
-            self.get_logger().error(f"Invalid display data JSON: {msg.data}")
-
-    def send_keyboard_input(self, text: str) -> None:
-        """Send keyboard input to accessibility mode node."""
-        msg = String(data=text)
-        self.pub_keyboard.publish(msg)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = UIServerNode(port=8080)
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.server.shutdown()
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

jetson/ros2_ws/src/saltybot_accessibility_mode/setup.cfg

@@ -1,5 +0,0 @@
-[develop]
-script_dir=$base/lib/saltybot_accessibility_mode
-
-[install]
-install_scripts=$base/lib/saltybot_accessibility_mode

jetson/ros2_ws/src/saltybot_accessibility_mode/setup.py

@@ -1,33 +0,0 @@
-from setuptools import setup
-
-package_name = "saltybot_accessibility_mode"
-
-setup(
-    name=package_name,
-    version="0.1.0",
-    packages=[package_name],
-    data_files=[
-        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
-        (f"share/{package_name}", ["package.xml"]),
-        (f"share/{package_name}/launch", ["launch/accessibility_mode.launch.py"]),
-        (f"share/{package_name}/config", ["config/accessibility_params.yaml"]),
-        (f"share/{package_name}/ui", [
-            "ui/accessibility.html",
-            "ui/accessibility.css",
-            "ui/accessibility.js",
-        ]),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="sl-controls",
-    maintainer_email="sl-controls@saltylab.local",
-    description="Deaf/accessibility mode with STT display, touch keyboard, and TTS output",
-    license="MIT",
-    tests_require=["pytest"],
-    entry_points={
-        "console_scripts": [
-            "accessibility_mode_node = saltybot_accessibility_mode.accessibility_mode_node:main",
-            "ui_server = saltybot_accessibility_mode.ui_server:main",
-        ],
-    },
-)

jetson/ros2_ws/src/saltybot_accessibility_mode/ui/accessibility.css

@@ -1,279 +0,0 @@
-* {
-    margin: 0;
-    padding: 0;
-    box-sizing: border-box;
-}
-
-body {
-    font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, sans-serif;
-    background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
-    min-height: 100vh;
-    display: flex;
-    align-items: center;
-    justify-content: center;
-    color: #333;
-}
-
-.container {
-    width: 100%;
-    max-width: 1024px;
-    height: 600px;
-    background: white;
-    border-radius: 0;
-    box-shadow: 0 20px 60px rgba(0, 0, 0, 0.3);
-    display: flex;
-    flex-direction: column;
-    overflow: hidden;
-}
-
-/* Header */
-.header {
-    background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
-    color: white;
-    padding: 12px 20px;
-    display: flex;
-    justify-content: space-between;
-    align-items: center;
-}
-
-.header h1 {
-    font-size: 24px;
-    font-weight: 600;
-}
-
-.status-indicator {
-    background: rgba(255, 255, 255, 0.3);
-    padding: 6px 12px;
-    border-radius: 20px;
-    font-size: 12px;
-    font-weight: 500;
-}
-
-/* Transcript Area */
-.transcript-area {
-    flex: 0 0 100px;
-    background: #f8f9fa;
-    border-bottom: 1px solid #e0e0e0;
-    padding: 8px 15px;
-    display: flex;
-    flex-direction: column;
-}
-
-.transcript-label {
-    font-size: 12px;
-    font-weight: 600;
-    color: #666;
-    margin-bottom: 4px;
-    text-transform: uppercase;
-}
-
-.transcript-content {
-    flex: 1;
-    overflow-y: auto;
-    font-size: 16px;
-    line-height: 1.4;
-    color: #333;
-    padding: 4px 0;
-}
-
-.transcript-content .placeholder {
-    color: #999;
-    font-style: italic;
-}
-
-/* Keyboard Area */
-.keyboard-area {
-    flex: 1;
-    padding: 12px 15px;
-    overflow-y: auto;
-    display: flex;
-    flex-direction: column;
-}
-
-.keyboard-label {
-    font-size: 12px;
-    font-weight: 600;
-    color: #666;
-    margin-bottom: 6px;
-    text-transform: uppercase;
-}
-
-.keyboard-buffer {
-    min-height: 32px;
-    background: white;
-    border: 2px solid #667eea;
-    border-radius: 6px;
-    padding: 8px 12px;
-    margin-bottom: 8px;
-    font-size: 18px;
-    font-weight: 500;
-    color: #333;
-    word-wrap: break-word;
-    min-height: 40px;
-    line-height: 1.4;
-}
-
-/* Keyboard Layout */
-.keyboard {
-    flex: 1;
-    display: flex;
-    flex-direction: column;
-    gap: 4px;
-    justify-content: flex-start;
-}
-
-.keyboard-row {
-    display: flex;
-    gap: 4px;
-    justify-content: center;
-}
-
-.key {
-    flex: 1;
-    min-width: 0;
-    padding: 8px 4px;
-    background: #f0f0f0;
-    border: 1px solid #ccc;
-    border-radius: 4px;
-    font-size: 13px;
-    font-weight: 600;
-    cursor: pointer;
-    transition: all 0.15s;
-    color: #333;
-    touch-action: manipulation;
-}
-
-.key:hover {
-    background: #e0e0e0;
-    border-color: #999;
-}
-
-.key:active {
-    background: #667eea;
-    color: white;
-    border-color: #667eea;
-    transform: scale(0.95);
-}
-
-.key.num {
-    background: #fff3cd;
-    border-color: #ffc107;
-}
-
-.key.num:active {
-    background: #ffc107;
-    color: white;
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-.key.sym {
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-.key.sym:active {
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-.key.special {
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-.key.special:active {
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-
-.keyboard-row.action {
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-    padding-top: 4px;
-    border-top: 1px solid #e0e0e0;
-}
-
-.key.action {
-    background: #f5f5f5;
-    border-color: #999;
-    font-size: 12px;
-}
-
-.key.action.primary {
-    background: #4CAF50;
-    color: white;
-    border-color: #45a049;
-    font-weight: 700;
-}
-
-.key.action.primary:hover {
-    background: #45a049;
-}
-
-.key.action.primary:active {
-    background: #3d8b40;
-    transform: scale(0.95);
-}
-
-/* Footer */
-.footer {
-    background: #f8f9fa;
-    border-top: 1px solid #e0e0e0;
-    padding: 8px 15px;
-    display: flex;
-    justify-content: space-around;
-    font-size: 12px;
-}
-
-.status-item {
-    display: flex;
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-
-.status-item .label {
-    font-weight: 600;
-    color: #666;
-}
-
-.status-item .value {
-    color: #4CAF50;
-    font-weight: 500;
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-
-/* Responsive */
-@media (max-width: 600px) {
-    .key {
-        font-size: 11px;
-        padding: 6px 2px;
-    }
-
-    .header h1 {
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-    }
-
-    .keyboard-buffer {
-        font-size: 16px;
-        min-height: 36px;
-    }
-}
-
-/* Scrollbar styling */
-.transcript-content::-webkit-scrollbar,
-.keyboard-area::-webkit-scrollbar {
-    width: 4px;
-}
-
-.transcript-content::-webkit-scrollbar-track,
-.keyboard-area::-webkit-scrollbar-track {
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-}
-
-.transcript-content::-webkit-scrollbar-thumb,
-.keyboard-area::-webkit-scrollbar-thumb {
-    background: #888;
-    border-radius: 2px;
-}
-
-.transcript-content::-webkit-scrollbar-thumb:hover,
-.keyboard-area::-webkit-scrollbar-thumb:hover {
-    background: #555;
-}

jetson/ros2_ws/src/saltybot_accessibility_mode/ui/accessibility.html

@@ -1,109 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>SaltyBot Accessibility Mode</title>
-    <link rel="stylesheet" href="accessibility.css">
-</head>
-<body>
-    <div class="container">
-        <!-- Header -->
-        <header class="header">
-            <h1>🔊 Accessibility Mode</h1>
-            <div class="status">
-                <span id="mode-indicator" class="status-indicator">STT Active</span>
-            </div>
-        </header>
-
-        <!-- Transcript Display -->
-        <div class="transcript-area">
-            <div class="transcript-label">Transcript</div>
-            <div id="transcript-display" class="transcript-content">
-                <div class="placeholder">Waiting for speech...</div>
-            </div>
-        </div>
-
-        <!-- Keyboard Input Area -->
-        <div class="keyboard-area">
-            <div class="keyboard-label">Type or Speak</div>
-            <div id="keyboard-buffer" class="keyboard-buffer"></div>
-
-            <!-- Soft Keyboard -->
-            <div class="keyboard">
-                <!-- Row 1 -->
-                <div class="keyboard-row">
-                    <button class="key" data-char="Q">Q</button>
-                    <button class="key" data-char="W">W</button>
-                    <button class="key" data-char="E">E</button>
-                    <button class="key" data-char="R">R</button>
-                    <button class="key" data-char="T">T</button>
-                    <button class="key" data-char="Y">Y</button>
-                    <button class="key" data-char="U">U</button>
-                    <button class="key" data-char="I">I</button>
-                    <button class="key" data-char="O">O</button>
-                    <button class="key" data-char="P">P</button>
-                </div>
-
-                <!-- Row 2 -->
-                <div class="keyboard-row">
-                    <button class="key" data-char="A">A</button>
-                    <button class="key" data-char="S">S</button>
-                    <button class="key" data-char="D">D</button>
-                    <button class="key" data-char="F">F</button>
-                    <button class="key" data-char="G">G</button>
-                    <button class="key" data-char="H">H</button>
-                    <button class="key" data-char="J">J</button>
-                    <button class="key" data-char="K">K</button>
-                    <button class="key" data-char="L">L</button>
-                    <button class="key special" id="backspace-btn">⌫</button>
-                </div>
-
-                <!-- Row 3 -->
-                <div class="keyboard-row">
-                    <button class="key" data-char="Z">Z</button>
-                    <button class="key" data-char="X">X</button>
-                    <button class="key" data-char="C">C</button>
-                    <button class="key" data-char="V">V</button>
-                    <button class="key" data-char="B">B</button>
-                    <button class="key" data-char="N">N</button>
-                    <button class="key" data-char="M">M</button>
-                    <button class="key special" id="space-btn">SPACE</button>
-                </div>
-
-                <!-- Row 4 - Numbers & Symbols -->
-                <div class="keyboard-row">
-                    <button class="key num" data-char="1">1</button>
-                    <button class="key num" data-char="2">2</button>
-                    <button class="key num" data-char="3">3</button>
-                    <button class="key num" data-char="4">4</button>
-                    <button class="key num" data-char="5">5</button>
-                    <button class="key sym" data-char=".">.</button>
-                    <button class="key sym" data-char="?">?</button>
-                    <button class="key sym" data-char="!">!</button>
-                </div>
-
-                <!-- Row 5 - Action buttons -->
-                <div class="keyboard-row action">
-                    <button class="key action" id="clear-btn">CLEAR</button>
-                    <button class="key action primary" id="send-btn">SEND</button>
-                </div>
-            </div>
-        </div>
-
-        <!-- Status Footer -->
-        <footer class="footer">
-            <div class="status-item">
-                <span class="label">STT:</span>
-                <span id="stt-status" class="value">Ready</span>
-            </div>
-            <div class="status-item">
-                <span class="label">TTS:</span>
-                <span id="tts-status" class="value">Ready</span>
-            </div>
-        </footer>
-    </div>
-
-    <script src="accessibility.js"></script>
-</body>
-</html>

jetson/ros2_ws/src/saltybot_accessibility_mode/ui/accessibility.js

@@ -1,173 +0,0 @@
-/**
- * Accessibility Mode UI - Touch Keyboard & STT Display
- */
-
-class AccessibilityUI {
-    constructor() {
-        this.keyboardBuffer = '';
-        this.displayData = { history: [], keyboard_buffer: '' };
-        this.wsConnected = false;
-
-        this.initializeElements();
-        this.attachEventListeners();
-        this.startPolling();
-    }
-
-    initializeElements() {
-        this.keyboardBufferEl = document.getElementById('keyboard-buffer');
-        this.transcriptDisplay = document.getElementById('transcript-display');
-        this.transcriptHistoryEl = null;
-        this.sttStatusEl = document.getElementById('stt-status');
-        this.ttsStatusEl = document.getElementById('tts-status');
-        this.modeIndicatorEl = document.getElementById('mode-indicator');
-
-        // Keyboard buttons
-        this.keyButtons = document.querySelectorAll('.key[data-char]');
-        this.backspaceBtn = document.getElementById('backspace-btn');
-        this.spaceBtn = document.getElementById('space-btn');
-        this.clearBtn = document.getElementById('clear-btn');
-        this.sendBtn = document.getElementById('send-btn');
-    }
-
-    attachEventListeners() {
-        // Character keys
-        this.keyButtons.forEach(btn => {
-            btn.addEventListener('click', () => this.inputCharacter(btn.dataset.char));
-            btn.addEventListener('touch start', (e) => e.preventDefault());
-        });
-
-        // Special keys
-        this.backspaceBtn.addEventListener('click', () => this.backspace());
-        this.spaceBtn.addEventListener('click', () => this.inputCharacter(' '));
-        this.clearBtn.addEventListener('click', () => this.clearBuffer());
-        this.sendBtn.addEventListener('click', () => this.sendInput());
-
-        // Physical keyboard support
-        document.addEventListener('keydown', (e) => this.handlePhysicalKey(e));
-    }
-
-    inputCharacter(char) {
-        this.keyboardBuffer += char.toUpperCase();
-        this.updateDisplay();
-        this.sendToROS('', false); // Update display on ROS
-    }
-
-    backspace() {
-        this.keyboardBuffer = this.keyboardBuffer.slice(0, -1);
-        this.updateDisplay();
-        this.sendToROS('', false);
-    }
-
-    clearBuffer() {
-        this.keyboardBuffer = '';
-        this.updateDisplay();
-        this.sendToROS('[CLEAR]', false);
-    }
-
-    sendInput() {
-        if (this.keyboardBuffer.trim()) {
-            this.sendToROS('[SEND]', true);
-            this.keyboardBuffer = '';
-            this.updateDisplay();
-        }
-    }
-
-    handlePhysicalKey(e) {
-        if (e.target !== document.body) return;
-
-        const char = e.key.toUpperCase();
-
-        if (e.key === 'Backspace') {
-            e.preventDefault();
-            this.backspace();
-        } else if (e.key === 'Enter') {
-            e.preventDefault();
-            this.sendInput();
-        } else if (char.match(/^[A-Z0-9 .,!?]$/)) {
-            this.inputCharacter(char);
-        }
-    }
-
-    updateDisplay() {
-        this.keyboardBufferEl.textContent = this.keyboardBuffer || '(empty)';
-        this.renderTranscriptHistory();
-    }
-
-    renderTranscriptHistory() {
-        if (!this.displayData.history) return;
-
-        let html = '';
-        this.displayData.history.forEach(entry => {
-            const cls = entry.type === 'stt' ? 'transcript-stt' : 'transcript-keyboard';
-            const icon = entry.type === 'stt' ? '🎤' : '⌨️';
-            const text = entry.text || '';
-            html += `<div class="transcript-entry ${cls}">${icon} ${this.escapeHtml(text)}</div>`;
-        });
-
-        if (!html) {
-            html = '<div class="placeholder">Waiting for speech...</div>';
-        }
-
-        this.transcriptDisplay.innerHTML = html;
-        // Auto-scroll to bottom
-        this.transcriptDisplay.scrollTop = this.transcriptDisplay.scrollHeight;
-    }
-
-    sendToROS(command, isFinal) {
-        // This will be called when we have a WebSocket connection to the ROS2 bridge
-        const data = {
-            command: command,
-            buffer: this.keyboardBuffer,
-            timestamp: Date.now(),
-            final: isFinal
-        };
-
-        console.log('Sending to ROS:', data);
-
-        // Send via fetch API to UI server
-        fetch('/api/keyboard', {
-            method: 'POST',
-            headers: { 'Content-Type': 'application/json' },
-            body: JSON.stringify(data)
-        }).catch(err => console.error('ROS send error:', err));
-    }
-
-    startPolling() {
-        // Poll for display updates from ROS2
-        setInterval(() => this.pollDisplayUpdate(), 500);
-    }
-
-    pollDisplayUpdate() {
-        fetch('/api/display')
-            .then(res => res.json())
-            .then(data => {
-                if (data && data.history) {
-                    this.displayData = data;
-                    this.renderTranscriptHistory();
-                    this.updateStatusIndicators();
-                }
-            })
-            .catch(err => console.error('Display poll error:', err));
-    }
-
-    updateStatusIndicators() {
-        // Update STT/TTS status based on display data
-        if (this.displayData.history && this.displayData.history.length > 0) {
-            const lastEntry = this.displayData.history[this.displayData.history.length - 1];
-            if (lastEntry.type === 'stt') {
-                this.sttStatusEl.textContent = lastEntry.final ? 'Complete' : 'Listening...';
-            }
-        }
-    }
-
-    escapeHtml(text) {
-        const div = document.createElement('div');
-        div.textContent = text;
-        return div.innerHTML;
-    }
-}
-
-// Initialize when DOM is ready
-document.addEventListener('DOMContentLoaded', () => {
-    window.accessibilityUI = new AccessibilityUI();
-});