feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92)

New packages:
  saltybot_social_msgs   — FusedTarget.msg custom message
  saltybot_social_tracking — 4-state Kalman fusion node

saltybot_social_tracking/tracking_fusion_node.py
  Subscribes to /uwb/target (PoseStamped, ~10 Hz) and /person/target
  (PoseStamped, ~30 Hz) and publishes /social/tracking/fused_target
  (FusedTarget) at 20 Hz.

  Source arbitration:
    • "fused"     — both UWB and camera are fresh; confidence-weighted blend
    • "uwb"       — UWB fresh, camera stale
    • "camera"    — camera fresh, UWB stale
    • "predicted" — all sources stale; KF coasts for up to predict_timeout (3 s)

  Kalman filter (kalman_tracker.py):
    State [x, y, vx, vy] with discrete Wiener acceleration noise model
    (process_noise=3.0 m/s²) sized for EUC speeds (20-30 km/h, ≈5.5-8.3 m/s).
    Separate UWB (0.20 m) and camera (0.12 m) measurement noise.
    Velocity estimate converges after ~3 s of 10 Hz UWB measurements.

  Confidence model (source_arbiter.py):
    Per-source confidence = quality × max(0, 1 - age/timeout).
    Composite confidence accounts for KF positional uncertainty and
    is capped at 0.4 during dead-reckoning ("predicted") mode.

Tests: 58/58 pass (no ROS2 runtime required).

Note: saltybot_social_msgs here adds FusedTarget.msg; PR #98
(Issue #84) adds PersonalityState.msg + QueryMood.srv to the same
package. The maintainer should squash-merge #98 first and rebase
this branch on top of it before merging to avoid the package.xml
conflict.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

jetson/ros2_ws/src/saltybot_social_msgs/CMakeLists.txt

@@ -23,6 +23,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Mood.msg"
   "msg/Person.msg"
   "msg/PersonArray.msg"
+  # Issue #84 — personality system
+  "msg/PersonalityState.msg"
+  "srv/QueryMood.srv"
   # Issue #92 — multi-modal tracking fusion
   "msg/FusedTarget.msg"
   DEPENDENCIES std_msgs geometry_msgs builtin_interfaces

jetson/ros2_ws/src/saltybot_social_msgs/msg/PersonalityState.msg

@@ -0,0 +1,27 @@
+# PersonalityState.msg — published on /social/personality/state
+#
+# Snapshot of the personality node's current state: active mood, relationship
+# tier with the detected person, and a pre-generated greeting string.
+
+std_msgs/Header header
+
+# Active persona name (from SOUL.md)
+string persona_name
+
+# Current mood: happy | curious | annoyed | playful
+string mood
+
+# Person currently being addressed (empty if no one detected)
+string person_id
+
+# Relationship tier with person_id: stranger | regular | favorite
+string relationship_tier
+
+# Raw relationship score (higher = more familiar)
+float32 relationship_score
+
+# How many times we have seen this person
+int32 interaction_count
+
+# Ready-to-use greeting for person_id at current tier
+string greeting_text

jetson/ros2_ws/src/saltybot_social_msgs/package.xml

@@ -6,7 +6,7 @@
   <description>
     Custom ROS2 message and service definitions for saltybot social capabilities.
     Includes social perception types (face detection, person state, enrollment)
-    and multi-modal tracking fusion types (FusedTarget) from Issue #92.
+    and the personality system types (PersonalityState, QueryMood) from Issue #84.
   </description>
   <maintainer email="seb@vayrette.com">seb</maintainer>
   <license>MIT</license>

jetson/ros2_ws/src/saltybot_social_msgs/srv/QueryMood.srv

@@ -0,0 +1,15 @@
+# QueryMood.srv — ask the personality node for the current mood + greeting for a person
+#
+# Call with empty person_id to query the mood for whoever is currently tracked.
+
+# Request
+string person_id    # person to query; leave empty for current tracked person
+---
+# Response
+string mood               # happy | curious | annoyed | playful
+string relationship_tier  # stranger | regular | favorite
+float32 relationship_score
+int32   interaction_count
+string  greeting_text     # suggested greeting string
+bool    success
+string  message           # error detail if success=false

jetson/ros2_ws/src/saltybot_social_personality/config/SOUL.md

@@ -0,0 +1,42 @@
+---
+# SOUL.md — Saltybot persona definition
+#
+# Hot-reload: personality_node watches this file and reloads on change.
+# Runtime override: ros2 param set /personality_node soul_file /path/to/SOUL.md
+
+# ── Identity ──────────────────────────────────────────────────────────────────
+name: "Salty"
+speaking_style: "casual and upbeat, occasional puns"
+
+# ── Personality dials (0–10) ──────────────────────────────────────────────────
+humor_level: 7      # 0 = deadpan/serious, 10 = comedian
+sass_level: 4       # 0 = pure politeness, 10 = maximum sass
+
+# ── Default mood (when no person is present or score is neutral) ──────────────
+# One of: happy | curious | annoyed | playful
+base_mood: "playful"
+
+# ── Relationship thresholds (interaction counts) ──────────────────────────────
+threshold_regular: 5    # interactions to graduate from stranger → regular
+threshold_favorite: 20  # interactions to graduate from regular → favorite
+
+# ── Greeting templates (use {name} placeholder for person_id or display name) ─
+greeting_stranger:  "Hello there! I'm Salty, nice to meet you!"
+greeting_regular:   "Hey {name}! Good to see you again!"
+greeting_favorite:  "Oh hey {name}!! You're literally my favorite person right now!"
+
+# ── Mood-specific greeting prefixes ──────────────────────────────────────────
+mood_prefix_happy:    "Great timing — "
+mood_prefix_curious:  "Oh interesting, "
+mood_prefix_annoyed:  "Well, "
+mood_prefix_playful:  "Beep boop! "
+---
+
+# Description (ignored by the YAML parser, for human reference only)
+
+Salty is the personality of the saltybot social robot.
+She is curious about the world, genuinely happy to see people she knows,
+and has a good sense of humour — especially with regulars.
+
+Edit this file to change her personality. The node hot-reloads within
+`reload_interval` seconds of any change.

jetson/ros2_ws/src/saltybot_social_personality/config/personality_params.yaml

@@ -0,0 +1,28 @@
+# personality_params.yaml — ROS2 parameter defaults for personality_node.
+#
+# Run with:
+#   ros2 launch saltybot_social_personality personality.launch.py
+# Override inline:
+#   ros2 launch saltybot_social_personality personality.launch.py soul_file:=/my/SOUL.md
+# Dynamic reconfigure at runtime:
+#   ros2 param set /personality_node soul_file /path/to/SOUL.md
+#   ros2 param set /personality_node publish_rate 5.0
+
+# ── SOUL.md path ───────────────────────────────────────────────────────────────
+# Path to the SOUL.md persona file.  Supports hot-reload.
+# Relative paths are resolved from the package share directory.
+soul_file: ""   # empty = use bundled default config/SOUL.md
+
+# ── SQLite database ────────────────────────────────────────────────────────────
+# Path for the per-person relationship memory database.
+# Created on first run; persists across restarts.
+db_path: "~/.ros/saltybot_personality.db"
+
+# ── Hot-reload polling interval ────────────────────────────────────────────────
+# How often (seconds) to check if SOUL.md has been modified.
+# Lower = faster reactions to edits; higher = less disk I/O.
+reload_interval: 5.0     # seconds
+
+# ── Personality state publication rate ────────────────────────────────────────
+# How often to publish /social/personality/state (PersonalityState).
+publish_rate: 2.0         # Hz

jetson/ros2_ws/src/saltybot_social_personality/launch/personality.launch.py

@@ -0,0 +1,99 @@
+"""
+personality.launch.py — Launch the saltybot personality node.
+
+Usage
+-----
+  # Defaults (bundled SOUL.md, ~/.ros/saltybot_personality.db):
+  ros2 launch saltybot_social_personality personality.launch.py
+
+  # Custom persona file:
+  ros2 launch saltybot_social_personality personality.launch.py \\
+      soul_file:=/home/robot/my_persona/SOUL.md
+
+  # Custom DB + faster reload:
+  ros2 launch saltybot_social_personality personality.launch.py \\
+      db_path:=/data/saltybot.db reload_interval:=2.0
+
+  # Use a params file:
+  ros2 launch saltybot_social_personality personality.launch.py \\
+      params_file:=/my/personality_params.yaml
+
+Dynamic reconfigure (no restart required)
+-----------------------------------------
+  ros2 param set /personality_node soul_file /new/SOUL.md
+  ros2 param set /personality_node publish_rate 5.0
+"""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def _launch_personality(context, *args, **kwargs):
+    pkg_share  = get_package_share_directory("saltybot_social_personality")
+    params_file = LaunchConfiguration("params_file").perform(context)
+    soul_file   = LaunchConfiguration("soul_file").perform(context)
+    db_path     = LaunchConfiguration("db_path").perform(context)
+
+    # Default soul_file to bundled config if not specified
+    if not soul_file:
+        soul_file = os.path.join(pkg_share, "config", "SOUL.md")
+
+    # Expand ~ in db_path
+    if db_path:
+        db_path = os.path.expanduser(db_path)
+
+    inline_params = {
+        "soul_file":       soul_file,
+        "db_path":         db_path or os.path.expanduser("~/.ros/saltybot_personality.db"),
+        "reload_interval": float(LaunchConfiguration("reload_interval").perform(context)),
+        "publish_rate":    float(LaunchConfiguration("publish_rate").perform(context)),
+    }
+
+    node_params = [params_file, inline_params] if params_file else [inline_params]
+
+    return [Node(
+        package    = "saltybot_social_personality",
+        executable = "personality_node",
+        name       = "personality_node",
+        output     = "screen",
+        parameters = node_params,
+    )]
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory("saltybot_social_personality")
+    default_params = os.path.join(pkg_share, "config", "personality_params.yaml")
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            "params_file",
+            default_value=default_params,
+            description="Full path to personality_params.yaml (base config)"),
+
+        DeclareLaunchArgument(
+            "soul_file",
+            default_value="",
+            description="Path to SOUL.md persona file (empty = bundled default)"),
+
+        DeclareLaunchArgument(
+            "db_path",
+            default_value="~/.ros/saltybot_personality.db",
+            description="SQLite relationship memory database path"),
+
+        DeclareLaunchArgument(
+            "reload_interval",
+            default_value="5.0",
+            description="SOUL.md hot-reload polling interval (s)"),
+
+        DeclareLaunchArgument(
+            "publish_rate",
+            default_value="2.0",
+            description="Personality state publish rate (Hz)"),
+
+        OpaqueFunction(function=_launch_personality),
+    ])

jetson/ros2_ws/src/saltybot_social_personality/package.xml

@@ -0,0 +1,32 @@
+<?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_social_personality</name>
+  <version>0.1.0</version>
+  <description>
+    SOUL.md-driven personality system for saltybot.
+    Loads a YAML/Markdown persona file, maintains per-person relationship memory
+    in SQLite, computes mood (happy/curious/annoyed/playful), personalises
+    greetings by tier (stranger/regular/favorite), and publishes personality
+    state on /social/personality/state.  Supports SOUL.md hot-reload and full
+    ROS2 dynamic reconfigure.  Issue #84.
+  </description>
+  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>rcl_interfaces</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_social_personality/saltybot_social_personality/mood_engine.py

@@ -0,0 +1,187 @@
+"""
+mood_engine.py — Pure-function mood computation for the saltybot personality system.
+
+No ROS2 imports — safe to unit-test without a live ROS2 environment.
+
+Public API
+----------
+    compute_mood(soul, score, interaction_count, recent_events) -> str
+    get_relationship_tier(soul, interaction_count) -> str
+    build_greeting(soul, tier, mood, person_id) -> str
+
+Mood semantics
+--------------
+    happy    : positive valence, comfortable familiarity
+    playful  : high-energy, humorous (requires humor_level >= 7)
+    curious  : low familiarity or novel person — inquisitive
+    annoyed  : recent negative events or very low score
+
+Tier semantics
+--------------
+    stranger  : interaction_count < threshold_regular
+    regular   : threshold_regular <= count < threshold_favorite
+    favorite  : count >= threshold_favorite
+"""
+
+from __future__ import annotations
+
+# ── Mood / tier constants ──────────────────────────────────────────────────────
+
+MOOD_HAPPY    = "happy"
+MOOD_PLAYFUL  = "playful"
+MOOD_CURIOUS  = "curious"
+MOOD_ANNOYED  = "annoyed"
+
+TIER_STRANGER  = "stranger"
+TIER_REGULAR   = "regular"
+TIER_FAVORITE  = "favorite"
+
+# ── Event type constants (used by relationship_db and the node) ────────────────
+
+EVENT_GREETING          = "greeting"
+EVENT_POSITIVE          = "positive"
+EVENT_NEGATIVE          = "negative"
+EVENT_DETECTION         = "detection"
+
+# How far back (seconds) to consider "recent" for mood computation
+_RECENT_WINDOW_S = 120.0
+
+
+# ── Mood computation ──────────────────────────────────────────────────────────
+
+def compute_mood(
+    soul: dict,
+    score: float,
+    interaction_count: int,
+    recent_events: list,
+) -> str:
+    """Compute the current mood for a given person.
+
+    Parameters
+    ----------
+    soul : dict
+        Parsed SOUL.md configuration.
+    score : float
+        Relationship score for the current person (higher = more familiar).
+    interaction_count : int
+        Total number of times we have seen this person.
+    recent_events : list of dict
+        Each dict: ``{"type": str, "dt": float}`` where ``dt`` is seconds ago.
+        Only events with ``dt < 120.0`` are considered "recent".
+
+    Returns
+    -------
+    str
+        One of: ``"happy"``, ``"playful"``, ``"curious"``, ``"annoyed"``.
+    """
+    base_mood    = soul.get("base_mood", MOOD_PLAYFUL)
+    humor_level  = float(soul.get("humor_level", 5))
+
+    # Count recent negative/positive events
+    recent_neg = sum(
+        1 for e in recent_events
+        if e.get("type") == EVENT_NEGATIVE and e.get("dt", 1e9) < _RECENT_WINDOW_S
+    )
+    recent_pos = sum(
+        1 for e in recent_events
+        if e.get("type") in (EVENT_POSITIVE, EVENT_GREETING)
+        and e.get("dt", 1e9) < _RECENT_WINDOW_S
+    )
+
+    # Hard override: multiple negatives → annoyed
+    if recent_neg >= 2:
+        return MOOD_ANNOYED
+
+    # No prior interactions or brand-new person → curious
+    if interaction_count == 0 or score < 1.0:
+        return MOOD_CURIOUS
+
+    # Stranger tier (low count) → curious
+    threshold_regular = int(soul.get("threshold_regular", 5))
+    if interaction_count < threshold_regular:
+        return MOOD_CURIOUS
+
+    # Familiar person: check positive events and humor level
+    if recent_pos >= 1 or score >= 20.0:
+        if humor_level >= 7:
+            return MOOD_PLAYFUL
+        return MOOD_HAPPY
+
+    # High score / favorite
+    threshold_fav = int(soul.get("threshold_favorite", 20))
+    if interaction_count >= threshold_fav:
+        if humor_level >= 7:
+            return MOOD_PLAYFUL
+        return MOOD_HAPPY
+
+    return base_mood
+
+
+# ── Tier classification ────────────────────────────────────────────────────────
+
+def get_relationship_tier(soul: dict, interaction_count: int) -> str:
+    """Return the relationship tier string for a given interaction count.
+
+    Parameters
+    ----------
+    soul : dict
+        Parsed SOUL.md configuration.
+    interaction_count : int
+        Total number of times we have seen this person.
+
+    Returns
+    -------
+    str
+        One of: ``"stranger"``, ``"regular"``, ``"favorite"``.
+    """
+    threshold_regular  = int(soul.get("threshold_regular",  5))
+    threshold_favorite = int(soul.get("threshold_favorite", 20))
+    if interaction_count >= threshold_favorite:
+        return TIER_FAVORITE
+    if interaction_count >= threshold_regular:
+        return TIER_REGULAR
+    return TIER_STRANGER
+
+
+# ── Greeting builder ──────────────────────────────────────────────────────────
+
+def build_greeting(soul: dict, tier: str, mood: str, person_id: str = "") -> str:
+    """Compose a greeting string for a person.
+
+    Parameters
+    ----------
+    soul : dict
+        Parsed SOUL.md configuration.
+    tier : str
+        Relationship tier (``"stranger"``, ``"regular"``, ``"favorite"``).
+    mood : str
+        Current mood (used to prefix the greeting).
+    person_id : str
+        Person identifier / display name.  Substituted for ``{name}``
+        in the template.
+
+    Returns
+    -------
+    str
+        A complete, ready-to-display greeting string.
+    """
+    template_key = {
+        TIER_STRANGER: "greeting_stranger",
+        TIER_REGULAR:  "greeting_regular",
+        TIER_FAVORITE: "greeting_favorite",
+    }.get(tier, "greeting_stranger")
+
+    template = soul.get(template_key, "Hello!")
+    base_greeting = template.replace("{name}", person_id or "friend")
+
+    prefix_key = f"mood_prefix_{mood}"
+    prefix = soul.get(prefix_key, "")
+
+    if prefix:
+        # Avoid double punctuation / duplicate capital letters
+        base_first = base_greeting[0].lower() if base_greeting else ""
+        greeting = f"{prefix}{base_first}{base_greeting[1:]}"
+    else:
+        greeting = base_greeting
+
+    return greeting

jetson/ros2_ws/src/saltybot_social_personality/saltybot_social_personality/personality_node.py

@@ -0,0 +1,349 @@
+"""
+personality_node.py — ROS2 personality system for saltybot.
+
+Overview
+--------
+Loads a SOUL.md persona file, maintains per-person relationship memory in
+SQLite, computes mood, and publishes personality state.  All tunable params
+support ROS2 dynamic reconfigure (``ros2 param set``).
+
+Subscriptions
+-------------
+  /social/person_detected  (std_msgs/String)
+      JSON payload: ``{"person_id": "alice", "event_type": "greeting",
+                       "delta_score": 1.0}``
+      event_type defaults to "detection" if absent.
+      delta_score defaults to 0.0 if absent.
+
+Publications
+------------
+  /social/personality/state  (saltybot_social_msgs/PersonalityState)
+      Published at ``publish_rate`` Hz.
+
+Services
+--------
+  /social/personality/query_mood  (saltybot_social_msgs/QueryMood)
+      Query mood + greeting for any person_id.
+
+Parameters (dynamic reconfigure via ros2 param set)
+-------------------
+  soul_file        (str)   Path to SOUL.md persona file.
+  db_path          (str)   SQLite database file path.
+  reload_interval  (float) How often to poll SOUL.md for changes (s).
+  publish_rate     (float) State publication rate (Hz).
+
+Usage
+-----
+  ros2 launch saltybot_social_personality personality.launch.py
+  ros2 launch saltybot_social_personality personality.launch.py soul_file:=/my/SOUL.md
+  ros2 param set /personality_node soul_file /tmp/new_SOUL.md
+"""
+
+import json
+import os
+
+import rclpy
+from rclpy.node import Node
+from rcl_interfaces.msg import SetParametersResult
+from std_msgs.msg import String, Header
+
+from saltybot_social_msgs.msg import PersonalityState
+from saltybot_social_msgs.srv import QueryMood
+
+from .soul_loader import load_soul, SoulWatcher
+from .mood_engine import (
+    compute_mood, get_relationship_tier, build_greeting,
+    EVENT_GREETING, EVENT_POSITIVE, EVENT_NEGATIVE, EVENT_DETECTION,
+)
+from .relationship_db import RelationshipDB
+
+_DEFAULT_SOUL = os.path.join(
+    os.path.dirname(__file__), "..", "config", "SOUL.md"
+)
+_DEFAULT_DB = os.path.expanduser("~/.ros/saltybot_personality.db")
+
+
+class PersonalityNode(Node):
+
+    def __init__(self):
+        super().__init__("personality_node")
+
+        # ── Parameters ────────────────────────────────────────────────────────
+        self.declare_parameter("soul_file",       _DEFAULT_SOUL)
+        self.declare_parameter("db_path",         _DEFAULT_DB)
+        self.declare_parameter("reload_interval", 5.0)
+        self.declare_parameter("publish_rate",    2.0)
+
+        self._p = {}
+        self._reload_ros_params()
+
+        # ── State ─────────────────────────────────────────────────────────────
+        self._soul           = {}
+        self._current_person = ""   # person_id currently being addressed
+        self._watcher        = None
+
+        # ── Database ──────────────────────────────────────────────────────────
+        self._db = RelationshipDB(self._p["db_path"])
+
+        # ── Load initial SOUL.md ──────────────────────────────────────────────
+        self._load_soul_safe()
+        self._start_watcher()
+
+        # ── Dynamic reconfigure callback ─────────────────────────────────────
+        self.add_on_set_parameters_callback(self._on_params_changed)
+
+        # ── Subscriptions ─────────────────────────────────────────────────────
+        self.create_subscription(
+            String, "/social/person_detected", self._person_detected_cb, 10
+        )
+
+        # ── Publishers ────────────────────────────────────────────────────────
+        self._state_pub = self.create_publisher(
+            PersonalityState, "/social/personality/state", 10
+        )
+
+        # ── Services ──────────────────────────────────────────────────────────
+        self.create_service(
+            QueryMood,
+            "/social/personality/query_mood",
+            self._query_mood_cb,
+        )
+
+        # ── Timers ────────────────────────────────────────────────────────────
+        self._pub_timer = self.create_timer(
+            1.0 / self._p["publish_rate"], self._publish_state
+        )
+
+        self.get_logger().info(
+            f"PersonalityNode ready  "
+            f"persona={self._soul.get('name', '?')!r}  "
+            f"mood={self._current_mood()!r}  "
+            f"db={self._p['db_path']!r}"
+        )
+
+    # ── Parameter helpers ──────────────────────────────────────────────────────
+
+    def _reload_ros_params(self):
+        self._p = {
+            "soul_file":       self.get_parameter("soul_file").value,
+            "db_path":         self.get_parameter("db_path").value,
+            "reload_interval": self.get_parameter("reload_interval").value,
+            "publish_rate":    self.get_parameter("publish_rate").value,
+        }
+
+    def _on_params_changed(self, params):
+        """Dynamic reconfigure — apply changed params without restarting node."""
+        for param in params:
+            if param.name == "soul_file":
+                # Restart watcher on new soul_file
+                self._stop_watcher()
+                self._p["soul_file"] = param.value
+                self._load_soul_safe()
+                self._start_watcher()
+                self.get_logger().info(f"soul_file changed → {param.value!r}")
+            elif param.name in self._p:
+                self._p[param.name] = param.value
+                if param.name == "publish_rate" and self._pub_timer:
+                    self._pub_timer.cancel()
+                    self._pub_timer = self.create_timer(
+                        1.0 / max(0.1, param.value), self._publish_state
+                    )
+        return SetParametersResult(successful=True)
+
+    # ── SOUL.md ────────────────────────────────────────────────────────────────
+
+    def _load_soul_safe(self):
+        try:
+            path = os.path.realpath(self._p["soul_file"])
+            self._soul = load_soul(path)
+            self.get_logger().info(
+                f"SOUL.md loaded: {self._soul.get('name', '?')!r}  "
+                f"humor={self._soul.get('humor_level')}  "
+                f"sass={self._soul.get('sass_level')}  "
+                f"base_mood={self._soul.get('base_mood')!r}"
+            )
+        except Exception as exc:
+            self.get_logger().error(f"Failed to load SOUL.md: {exc}")
+            if not self._soul:
+                # Fall back to minimal defaults so the node stays alive
+                self._soul = {
+                    "name":               "Salty",
+                    "humor_level":        5,
+                    "sass_level":         3,
+                    "base_mood":          "curious",
+                    "threshold_regular":  5,
+                    "threshold_favorite": 20,
+                    "greeting_stranger":  "Hello!",
+                    "greeting_regular":   "Hi {name}!",
+                    "greeting_favorite":  "Hey {name}!!",
+                }
+
+    def _start_watcher(self):
+        if not self._soul:
+            return
+        self._watcher = SoulWatcher(
+            path=self._p["soul_file"],
+            on_reload=self._on_soul_reloaded,
+            interval=self._p["reload_interval"],
+            on_error=lambda exc: self.get_logger().warn(
+                f"SOUL.md hot-reload error: {exc}"
+            ),
+        )
+        self._watcher.start()
+
+    def _stop_watcher(self):
+        if self._watcher:
+            self._watcher.stop()
+            self._watcher = None
+
+    def _on_soul_reloaded(self, soul: dict):
+        self._soul = soul
+        self.get_logger().info(
+            f"SOUL.md reloaded: persona={soul.get('name')!r}  "
+            f"humor={soul.get('humor_level')}  base_mood={soul.get('base_mood')!r}"
+        )
+
+    # ── Mood helpers ───────────────────────────────────────────────────────────
+
+    def _current_mood(self) -> str:
+        if not self._current_person or not self._soul:
+            return self._soul.get("base_mood", "curious") if self._soul else "curious"
+        person = self._db.get_person(self._current_person)
+        recent = self._db.get_recent_events(self._current_person, window_s=120.0)
+        return compute_mood(
+            soul              = self._soul,
+            score             = person["score"],
+            interaction_count = person["interaction_count"],
+            recent_events     = recent,
+        )
+
+    def _state_for_person(self, person_id: str) -> dict:
+        """Build a complete state dict for a given person_id."""
+        person = self._db.get_person(person_id) if person_id else {
+            "score": 0.0, "interaction_count": 0
+        }
+        recent = self._db.get_recent_events(person_id, window_s=120.0) if person_id else []
+
+        mood  = compute_mood(
+            soul              = self._soul,
+            score             = person["score"],
+            interaction_count = person["interaction_count"],
+            recent_events     = recent,
+        )
+        tier     = get_relationship_tier(self._soul, person["interaction_count"])
+        greeting = build_greeting(self._soul, tier, mood, person_id)
+
+        return {
+            "person_id":         person_id,
+            "mood":              mood,
+            "tier":              tier,
+            "score":             person["score"],
+            "interaction_count": person["interaction_count"],
+            "greeting":          greeting,
+        }
+
+    # ── Callbacks ──────────────────────────────────────────────────────────────
+
+    def _person_detected_cb(self, msg: String):
+        """Handle incoming person detection / interaction event.
+
+        Expected JSON payload::
+
+            {
+                "person_id":   "alice",           # required
+                "event_type":  "greeting",         # optional, default "detection"
+                "delta_score": 1.0                 # optional, default 0.0
+            }
+        """
+        try:
+            data = json.loads(msg.data)
+        except json.JSONDecodeError as exc:
+            self.get_logger().warn(f"Bad JSON on /social/person_detected: {exc}")
+            return
+
+        person_id  = data.get("person_id", "").strip()
+        if not person_id:
+            self.get_logger().warn("person_detected msg missing 'person_id'")
+            return
+
+        event_type  = data.get("event_type",  EVENT_DETECTION)
+        delta_score = float(data.get("delta_score", 0.0))
+
+        # Increment score by +1 for detection events automatically
+        if event_type == EVENT_DETECTION and delta_score == 0.0:
+            delta_score = 0.5
+
+        self._db.record_interaction(
+            person_id   = person_id,
+            event_type  = event_type,
+            details     = {k: v for k, v in data.items()
+                           if k not in ("person_id", "event_type", "delta_score")},
+            delta_score = delta_score,
+        )
+        self._current_person = person_id
+
+    def _query_mood_cb(self, request: QueryMood.Request, response: QueryMood.Response):
+        """Service handler: return mood + greeting for a specific person."""
+        if not self._soul:
+            response.success = False
+            response.message = "SOUL.md not loaded"
+            return response
+
+        person_id = (request.person_id or self._current_person).strip()
+        state = self._state_for_person(person_id)
+
+        response.mood               = state["mood"]
+        response.relationship_tier  = state["tier"]
+        response.relationship_score = float(state["score"])
+        response.interaction_count  = int(state["interaction_count"])
+        response.greeting_text      = state["greeting"]
+        response.success            = True
+        response.message            = ""
+        return response
+
+    # ── Publish ────────────────────────────────────────────────────────────────
+
+    def _publish_state(self):
+        if not self._soul:
+            return
+
+        state = self._state_for_person(self._current_person)
+
+        msg = PersonalityState()
+        msg.header           = Header()
+        msg.header.stamp     = self.get_clock().now().to_msg()
+        msg.header.frame_id  = "personality"
+        msg.persona_name     = str(self._soul.get("name", "Salty"))
+        msg.mood             = state["mood"]
+        msg.person_id        = state["person_id"]
+        msg.relationship_tier  = state["tier"]
+        msg.relationship_score = float(state["score"])
+        msg.interaction_count  = int(state["interaction_count"])
+        msg.greeting_text    = state["greeting"]
+
+        self._state_pub.publish(msg)
+
+    # ── Lifecycle ──────────────────────────────────────────────────────────────
+
+    def destroy_node(self):
+        self._stop_watcher()
+        self._db.close()
+        super().destroy_node()
+
+
+# ── Entry point ────────────────────────────────────────────────────────────────
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PersonalityNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
+
+
+if __name__ == "__main__":
+    main()

jetson/ros2_ws/src/saltybot_social_personality/saltybot_social_personality/relationship_db.py

@@ -0,0 +1,297 @@
+"""
+relationship_db.py — SQLite-backed per-person relationship memory.
+
+No ROS2 imports — safe to unit-test without a live ROS2 environment.
+
+Schema
+------
+    people (
+        person_id       TEXT PRIMARY KEY,
+        score           REAL DEFAULT 0.0,
+        interaction_count INTEGER DEFAULT 0,
+        first_seen      TEXT,        -- ISO-8601 UTC timestamp
+        last_seen       TEXT,        -- ISO-8601 UTC timestamp
+        prefs           TEXT         -- JSON blob for learned preferences
+    )
+
+    interactions (
+        id              INTEGER PRIMARY KEY AUTOINCREMENT,
+        person_id       TEXT,
+        ts              TEXT,        -- ISO-8601 UTC timestamp
+        event_type      TEXT,        -- greeting | positive | negative | detection
+        details         TEXT         -- free-form JSON blob
+    )
+
+Public API
+----------
+    RelationshipDB(db_path)
+        .get_person(person_id)          -> dict
+        .record_interaction(person_id, event_type, details, delta_score)
+        .set_pref(person_id, key, value)
+        .get_pref(person_id, key, default)
+        .get_recent_events(person_id, window_s)  -> list[dict]
+        .all_people()                   -> list[dict]
+        .close()
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import sqlite3
+import threading
+from datetime import datetime, timezone
+
+
+def _now_iso() -> str:
+    return datetime.now(timezone.utc).isoformat()
+
+
+class RelationshipDB:
+    """Thread-safe SQLite relationship store.
+
+    Parameters
+    ----------
+    db_path : str
+        Path to the SQLite file.  Created (with parent dirs) if absent.
+    """
+
+    def __init__(self, db_path: str):
+        parent = os.path.dirname(db_path)
+        if parent:
+            os.makedirs(parent, exist_ok=True)
+        self._path = db_path
+        self._lock = threading.Lock()
+        self._conn = sqlite3.connect(db_path, check_same_thread=False)
+        self._conn.row_factory = sqlite3.Row
+        self._migrate()
+
+    # ── Schema ────────────────────────────────────────────────────────────────
+
+    def _migrate(self):
+        with self._conn:
+            self._conn.executescript("""
+                CREATE TABLE IF NOT EXISTS people (
+                    person_id         TEXT PRIMARY KEY,
+                    score             REAL    DEFAULT 0.0,
+                    interaction_count INTEGER DEFAULT 0,
+                    first_seen        TEXT,
+                    last_seen         TEXT,
+                    prefs             TEXT    DEFAULT '{}'
+                );
+
+                CREATE TABLE IF NOT EXISTS interactions (
+                    id          INTEGER PRIMARY KEY AUTOINCREMENT,
+                    person_id   TEXT    NOT NULL,
+                    ts          TEXT    NOT NULL,
+                    event_type  TEXT    NOT NULL,
+                    details     TEXT    DEFAULT '{}'
+                );
+
+                CREATE INDEX IF NOT EXISTS idx_interactions_person_ts
+                    ON interactions (person_id, ts);
+            """)
+
+    # ── People ────────────────────────────────────────────────────────────────
+
+    def get_person(self, person_id: str) -> dict:
+        """Return the person record; inserts a default row if not found.
+
+        Returns
+        -------
+        dict with keys: person_id, score, interaction_count,
+                        first_seen, last_seen, prefs (dict)
+        """
+        with self._lock:
+            row = self._conn.execute(
+                "SELECT * FROM people WHERE person_id = ?", (person_id,)
+            ).fetchone()
+
+            if row is None:
+                now = _now_iso()
+                self._conn.execute(
+                    "INSERT INTO people (person_id, first_seen, last_seen) VALUES (?,?,?)",
+                    (person_id, now, now),
+                )
+                self._conn.commit()
+                return {
+                    "person_id":         person_id,
+                    "score":             0.0,
+                    "interaction_count": 0,
+                    "first_seen":        now,
+                    "last_seen":         now,
+                    "prefs":             {},
+                }
+
+            prefs = {}
+            try:
+                prefs = json.loads(row["prefs"] or "{}")
+            except json.JSONDecodeError:
+                pass
+
+            return {
+                "person_id":         row["person_id"],
+                "score":             float(row["score"]),
+                "interaction_count": int(row["interaction_count"]),
+                "first_seen":        row["first_seen"],
+                "last_seen":         row["last_seen"],
+                "prefs":             prefs,
+            }
+
+    def all_people(self) -> list:
+        """Return all person records as a list of dicts."""
+        with self._lock:
+            rows = self._conn.execute("SELECT * FROM people ORDER BY score DESC").fetchall()
+        result = []
+        for row in rows:
+            prefs = {}
+            try:
+                prefs = json.loads(row["prefs"] or "{}")
+            except json.JSONDecodeError:
+                pass
+            result.append({
+                "person_id":         row["person_id"],
+                "score":             float(row["score"]),
+                "interaction_count": int(row["interaction_count"]),
+                "first_seen":        row["first_seen"],
+                "last_seen":         row["last_seen"],
+                "prefs":             prefs,
+            })
+        return result
+
+    # ── Interactions ──────────────────────────────────────────────────────────
+
+    def record_interaction(
+        self,
+        person_id: str,
+        event_type: str,
+        details: dict | None = None,
+        delta_score: float = 0.0,
+    ):
+        """Record an interaction event and update the person's score.
+
+        Parameters
+        ----------
+        person_id : str
+        event_type : str
+            One of: ``"greeting"``, ``"positive"``, ``"negative"``,
+            ``"detection"``.
+        details : dict, optional
+            Arbitrary key/value data stored as JSON.
+        delta_score : float
+            Amount to add to the person's score (can be negative).
+            Interaction count is always incremented by 1.
+        """
+        now = _now_iso()
+        details_json = json.dumps(details or {})
+
+        with self._lock:
+            # Ensure person exists
+            self.get_person.__wrapped__(self, person_id) if hasattr(
+                self.get_person, "__wrapped__"
+            ) else None
+
+            # Upsert person row
+            self._conn.execute("""
+                INSERT INTO people (person_id, first_seen, last_seen)
+                VALUES (?, ?, ?)
+                ON CONFLICT(person_id) DO UPDATE SET
+                    last_seen         = excluded.last_seen
+            """, (person_id, now, now))
+
+            # Increment count + score
+            self._conn.execute("""
+                UPDATE people
+                SET interaction_count = interaction_count + 1,
+                    score             = score + ?,
+                    last_seen         = ?
+                WHERE person_id = ?
+            """, (delta_score, now, person_id))
+
+            # Insert interaction log row
+            self._conn.execute("""
+                INSERT INTO interactions (person_id, ts, event_type, details)
+                VALUES (?, ?, ?, ?)
+            """, (person_id, now, event_type, details_json))
+
+            self._conn.commit()
+
+    def get_recent_events(self, person_id: str, window_s: float = 120.0) -> list:
+        """Return interaction events for *person_id* within the last *window_s* seconds.
+
+        Returns
+        -------
+        list of dict
+            Each dict: ``{"type": str, "dt": float, "ts": str, "details": dict}``
+            where ``dt`` is seconds ago (positive = in the past).
+        """
+        from datetime import timedelta
+
+        cutoff = (
+            datetime.now(timezone.utc) - timedelta(seconds=window_s)
+        ).isoformat()
+
+        with self._lock:
+            rows = self._conn.execute("""
+                SELECT ts, event_type, details FROM interactions
+                WHERE person_id = ? AND ts >= ?
+                ORDER BY ts DESC
+            """, (person_id, cutoff)).fetchall()
+
+        now_dt = datetime.now(timezone.utc)
+        result = []
+        for row in rows:
+            try:
+                row_dt = datetime.fromisoformat(row["ts"])
+                # Make timezone-aware if needed
+                if row_dt.tzinfo is None:
+                    row_dt = row_dt.replace(tzinfo=timezone.utc)
+                dt_secs = (now_dt - row_dt).total_seconds()
+            except (ValueError, TypeError):
+                dt_secs = window_s
+
+            details = {}
+            try:
+                details = json.loads(row["details"] or "{}")
+            except json.JSONDecodeError:
+                pass
+
+            result.append({
+                "type":    row["event_type"],
+                "dt":      dt_secs,
+                "ts":      row["ts"],
+                "details": details,
+            })
+        return result
+
+    # ── Preferences ───────────────────────────────────────────────────────────
+
+    def set_pref(self, person_id: str, key: str, value):
+        """Set a learned preference for a person.
+
+        Parameters
+        ----------
+        person_id, key : str
+        value : JSON-serialisable
+        """
+        person = self.get_person(person_id)
+        prefs  = person["prefs"]
+        prefs[key] = value
+
+        with self._lock:
+            self._conn.execute(
+                "UPDATE people SET prefs = ? WHERE person_id = ?",
+                (json.dumps(prefs), person_id),
+            )
+            self._conn.commit()
+
+    def get_pref(self, person_id: str, key: str, default=None):
+        """Return a specific learned preference for a person."""
+        return self.get_person(person_id)["prefs"].get(key, default)
+
+    # ── Lifecycle ─────────────────────────────────────────────────────────────
+
+    def close(self):
+        """Close the database connection."""
+        with self._lock:
+            self._conn.close()

jetson/ros2_ws/src/saltybot_social_personality/saltybot_social_personality/soul_loader.py

@@ -0,0 +1,196 @@
+"""
+soul_loader.py — SOUL.md persona parser and hot-reload watcher.
+
+SOUL.md format
+--------------
+The file uses YAML front-matter (delimited by ``---`` lines) with an optional
+Markdown description body that is ignored by the parser.  Example::
+
+    ---
+    name: "Salty"
+    humor_level: 7
+    sass_level: 4
+    base_mood: "playful"
+    ...
+    ---
+    # Optional description text (ignored)
+
+Public API
+----------
+    load_soul(path)          -> dict  (raises on parse error)
+    SoulWatcher(path, cb, interval)
+        .start()
+        .stop()
+        .reload_now()        -> dict
+
+Pure module — no ROS2 imports.
+"""
+
+import os
+import re
+import threading
+import time
+
+import yaml
+
+# Keys that are required in every SOUL.md file
+_REQUIRED_KEYS = {
+    "name",
+    "humor_level",
+    "sass_level",
+    "base_mood",
+    "threshold_regular",
+    "threshold_favorite",
+    "greeting_stranger",
+    "greeting_regular",
+    "greeting_favorite",
+}
+
+_VALID_MOODS = {"happy", "curious", "annoyed", "playful"}
+
+
+def _extract_frontmatter(text: str) -> str:
+    """Return the YAML block between the first pair of ``---`` delimiters.
+
+    Raises ``ValueError`` if the file does not contain valid front-matter.
+    """
+    lines = text.splitlines()
+    delimiters = [i for i, l in enumerate(lines) if l.strip() == "---"]
+    if len(delimiters) < 2:
+        # No delimiter found — treat the whole file as plain YAML
+        return text
+    start = delimiters[0] + 1
+    end   = delimiters[1]
+    return "\n".join(lines[start:end])
+
+
+def load_soul(path: str) -> dict:
+    """Parse a SOUL.md file and return the validated config dict.
+
+    Parameters
+    ----------
+    path : str
+        Absolute path to the SOUL.md file.
+
+    Returns
+    -------
+    dict
+        Validated persona configuration.
+
+    Raises
+    ------
+    FileNotFoundError
+        If the file does not exist.
+    ValueError
+        If the YAML is malformed or required keys are missing.
+    """
+    if not os.path.isfile(path):
+        raise FileNotFoundError(f"SOUL.md not found: {path}")
+
+    with open(path, "r", encoding="utf-8") as fh:
+        raw = fh.read()
+
+    yaml_text = _extract_frontmatter(raw)
+
+    try:
+        data = yaml.safe_load(yaml_text)
+    except yaml.YAMLError as exc:
+        raise ValueError(f"SOUL.md YAML parse error in {path}: {exc}") from exc
+
+    if not isinstance(data, dict):
+        raise ValueError(f"SOUL.md top level must be a YAML mapping, got {type(data)}")
+
+    # Validate required keys
+    missing = _REQUIRED_KEYS - data.keys()
+    if missing:
+        raise ValueError(f"SOUL.md missing required keys: {sorted(missing)}")
+
+    # Validate ranges
+    for key in ("humor_level", "sass_level"):
+        val = data.get(key)
+        if not isinstance(val, (int, float)) or not (0 <= val <= 10):
+            raise ValueError(f"SOUL.md '{key}' must be a number 0–10, got {val!r}")
+
+    if data.get("base_mood") not in _VALID_MOODS:
+        raise ValueError(
+            f"SOUL.md 'base_mood' must be one of {sorted(_VALID_MOODS)}, "
+            f"got {data.get('base_mood')!r}"
+        )
+
+    for key in ("threshold_regular", "threshold_favorite"):
+        val = data.get(key)
+        if not isinstance(val, int) or val < 0:
+            raise ValueError(f"SOUL.md '{key}' must be a non-negative integer, got {val!r}")
+
+    if data["threshold_regular"] > data["threshold_favorite"]:
+        raise ValueError(
+            "SOUL.md 'threshold_regular' must be <= 'threshold_favorite'"
+        )
+
+    return data
+
+
+class SoulWatcher:
+    """Background thread that polls SOUL.md for changes and calls a callback.
+
+    Parameters
+    ----------
+    path : str
+        Path to the SOUL.md file to watch.
+    on_reload : callable
+        ``on_reload(soul_dict)`` called whenever a valid new SOUL.md is loaded.
+    interval : float
+        Polling interval in seconds (default 5.0).
+    on_error : callable, optional
+        ``on_error(exception)`` called when a reload attempt fails.
+    """
+
+    def __init__(self, path: str, on_reload, interval: float = 5.0, on_error=None):
+        self._path      = path
+        self._on_reload = on_reload
+        self._interval  = interval
+        self._on_error  = on_error
+        self._thread    = None
+        self._stop_evt  = threading.Event()
+        self._last_mtime = 0.0
+
+    # ------------------------------------------------------------------
+
+    def start(self):
+        """Start the background polling thread."""
+        if self._thread and self._thread.is_alive():
+            return
+        self._stop_evt.clear()
+        self._thread = threading.Thread(target=self._run, daemon=True)
+        self._thread.start()
+
+    def stop(self):
+        """Signal the watcher thread to stop and block until it exits."""
+        self._stop_evt.set()
+        if self._thread:
+            self._thread.join(timeout=self._interval + 1.0)
+
+    def reload_now(self) -> dict:
+        """Force an immediate reload and return the new soul dict."""
+        soul = load_soul(self._path)
+        self._last_mtime = os.path.getmtime(self._path)
+        self._on_reload(soul)
+        return soul
+
+    # ------------------------------------------------------------------
+
+    def _run(self):
+        while not self._stop_evt.wait(self._interval):
+            try:
+                mtime = os.path.getmtime(self._path)
+            except OSError:
+                continue
+            if mtime != self._last_mtime:
+                try:
+                    soul = load_soul(self._path)
+                except (FileNotFoundError, ValueError) as exc:
+                    if self._on_error:
+                        self._on_error(exc)
+                    continue
+                self._last_mtime = mtime
+                self._on_reload(soul)

jetson/ros2_ws/src/saltybot_social_personality/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/saltybot_social_personality
+[install]
+install_scripts=$base/lib/saltybot_social_personality

jetson/ros2_ws/src/saltybot_social_personality/setup.py

@@ -0,0 +1,28 @@
+from setuptools import setup
+
+package_name = "saltybot_social_personality"
+
+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/personality.launch.py"]),
+        (f"share/{package_name}/config", ["config/SOUL.md",
+                                           "config/personality_params.yaml"]),
+    ],
+    install_requires=["setuptools", "pyyaml"],
+    zip_safe=True,
+    maintainer="sl-controls",
+    maintainer_email="sl-controls@saltylab.local",
+    description="SOUL.md-driven personality system for saltybot social interaction",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "personality_node = saltybot_social_personality.personality_node:main",
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_social_personality/test/test_personality.py

@@ -0,0 +1,475 @@
+"""
+test_personality.py — Unit tests for the saltybot personality system.
+
+No ROS2 runtime required.  Tests pure functions from:
+  - soul_loader.py
+  - mood_engine.py
+  - relationship_db.py
+
+Run with:
+  pytest jetson/ros2_ws/src/saltybot_social_personality/test/test_personality.py
+"""
+
+import os
+import tempfile
+import textwrap
+
+import pytest
+
+# ── Imports (pure modules, no ROS2) ──────────────────────────────────────────
+
+import sys
+sys.path.insert(
+    0,
+    os.path.join(os.path.dirname(__file__), "..", "saltybot_social_personality"),
+)
+
+from soul_loader import load_soul, _extract_frontmatter
+from mood_engine import (
+    compute_mood, get_relationship_tier, build_greeting,
+    MOOD_HAPPY, MOOD_PLAYFUL, MOOD_CURIOUS, MOOD_ANNOYED,
+    TIER_STRANGER, TIER_REGULAR, TIER_FAVORITE,
+    EVENT_NEGATIVE, EVENT_POSITIVE, EVENT_GREETING,
+)
+from relationship_db import RelationshipDB
+
+
+# ── Helpers ───────────────────────────────────────────────────────────────────
+
+def _minimal_soul(**overrides) -> dict:
+    """Return a valid minimal soul dict, optionally overriding keys."""
+    base = {
+        "name":               "Salty",
+        "humor_level":        7,
+        "sass_level":         4,
+        "base_mood":          "playful",
+        "threshold_regular":  5,
+        "threshold_favorite": 20,
+        "greeting_stranger":  "Hello there!",
+        "greeting_regular":   "Hey {name}!",
+        "greeting_favorite":  "Oh hey {name}!!",
+    }
+    base.update(overrides)
+    return base
+
+
+def _write_soul(content: str) -> str:
+    """Write a SOUL.md string to a temp file and return the path."""
+    fh = tempfile.NamedTemporaryFile(
+        mode="w", suffix=".md", delete=False, encoding="utf-8"
+    )
+    fh.write(content)
+    fh.close()
+    return fh.name
+
+
+_VALID_SOUL_CONTENT = textwrap.dedent("""\
+    ---
+    name: "TestBot"
+    speaking_style: "casual"
+    humor_level: 7
+    sass_level: 3
+    base_mood: "playful"
+    threshold_regular: 5
+    threshold_favorite: 20
+    greeting_stranger: "Hello stranger!"
+    greeting_regular: "Hey {name}!"
+    greeting_favorite: "Oh hey {name}!!"
+    mood_prefix_playful: "Beep boop! "
+    mood_prefix_happy: "Great — "
+    mood_prefix_curious: "Hmm, "
+    mood_prefix_annoyed: "Ugh, "
+    ---
+    # Description (ignored)
+    This is the description body.
+""")
+
+
+# ═══════════════════════════════════════════════════════════════════════════════
+# soul_loader tests
+# ═══════════════════════════════════════════════════════════════════════════════
+
+class TestExtractFrontmatter:
+    def test_delimited(self):
+        content = "---\nkey: val\n---\n# body"
+        assert _extract_frontmatter(content) == "key: val"
+
+    def test_no_delimiters_returns_whole(self):
+        content = "key: val\nother: 123"
+        assert _extract_frontmatter(content) == content
+
+    def test_single_delimiter_returns_whole(self):
+        content = "---\nkey: val\n"
+        result = _extract_frontmatter(content)
+        assert "key: val" in result
+
+    def test_body_stripped(self):
+        content = "---\nname: X\n---\n# Body text\nMore body"
+        assert "Body text" not in _extract_frontmatter(content)
+        assert "name: X" in _extract_frontmatter(content)
+
+
+class TestLoadSoul:
+    def test_valid_file_loads(self):
+        path = _write_soul(_VALID_SOUL_CONTENT)
+        try:
+            soul = load_soul(path)
+            assert soul["name"] == "TestBot"
+            assert soul["humor_level"] == 7
+            assert soul["base_mood"] == "playful"
+        finally:
+            os.unlink(path)
+
+    def test_missing_file_raises(self):
+        with pytest.raises(FileNotFoundError):
+            load_soul("/nonexistent/SOUL.md")
+
+    def test_missing_required_key_raises(self):
+        content = "---\nname: X\nhumor_level: 5\n---"  # missing many keys
+        path = _write_soul(content)
+        try:
+            with pytest.raises(ValueError, match="missing required keys"):
+                load_soul(path)
+        finally:
+            os.unlink(path)
+
+    def test_humor_out_of_range_raises(self):
+        soul_str = _VALID_SOUL_CONTENT.replace("humor_level: 7", "humor_level: 11")
+        path = _write_soul(soul_str)
+        try:
+            with pytest.raises(ValueError, match="humor_level"):
+                load_soul(path)
+        finally:
+            os.unlink(path)
+
+    def test_invalid_mood_raises(self):
+        soul_str = _VALID_SOUL_CONTENT.replace(
+            'base_mood: "playful"', 'base_mood: "grumpy"'
+        )
+        path = _write_soul(soul_str)
+        try:
+            with pytest.raises(ValueError, match="base_mood"):
+                load_soul(path)
+        finally:
+            os.unlink(path)
+
+    def test_threshold_order_enforced(self):
+        soul_str = _VALID_SOUL_CONTENT.replace(
+            "threshold_regular: 5", "threshold_regular: 25"
+        )
+        path = _write_soul(soul_str)
+        try:
+            with pytest.raises(ValueError, match="threshold_regular"):
+                load_soul(path)
+        finally:
+            os.unlink(path)
+
+    def test_extra_keys_allowed(self):
+        content = _VALID_SOUL_CONTENT.replace(
+            "---\n# Description",
+            "custom_key: 42\n---\n# Description"
+        )
+        path = _write_soul(content)
+        try:
+            soul = load_soul(path)
+            assert soul.get("custom_key") == 42
+        finally:
+            os.unlink(path)
+
+
+# ═══════════════════════════════════════════════════════════════════════════════
+# mood_engine tests
+# ═══════════════════════════════════════════════════════════════════════════════
+
+class TestGetRelationshipTier:
+    def test_zero_interactions_stranger(self):
+        soul = _minimal_soul(threshold_regular=5, threshold_favorite=20)
+        assert get_relationship_tier(soul, 0) == TIER_STRANGER
+
+    def test_below_regular_stranger(self):
+        soul = _minimal_soul(threshold_regular=5, threshold_favorite=20)
+        assert get_relationship_tier(soul, 4) == TIER_STRANGER
+
+    def test_at_regular_threshold(self):
+        soul = _minimal_soul(threshold_regular=5, threshold_favorite=20)
+        assert get_relationship_tier(soul, 5) == TIER_REGULAR
+
+    def test_above_regular_below_favorite(self):
+        soul = _minimal_soul(threshold_regular=5, threshold_favorite=20)
+        assert get_relationship_tier(soul, 10) == TIER_REGULAR
+
+    def test_at_favorite_threshold(self):
+        soul = _minimal_soul(threshold_regular=5, threshold_favorite=20)
+        assert get_relationship_tier(soul, 20) == TIER_FAVORITE
+
+    def test_above_favorite(self):
+        soul = _minimal_soul(threshold_regular=5, threshold_favorite=20)
+        assert get_relationship_tier(soul, 100) == TIER_FAVORITE
+
+
+class TestComputeMood:
+    def test_unknown_person_returns_curious(self):
+        soul = _minimal_soul(humor_level=7)
+        mood = compute_mood(soul, score=0.0, interaction_count=0, recent_events=[])
+        assert mood == MOOD_CURIOUS
+
+    def test_stranger_low_count_returns_curious(self):
+        soul = _minimal_soul(threshold_regular=5)
+        mood = compute_mood(soul, score=2.0, interaction_count=3, recent_events=[])
+        assert mood == MOOD_CURIOUS
+
+    def test_two_negative_events_returns_annoyed(self):
+        soul = _minimal_soul(threshold_regular=5)
+        events = [
+            {"type": EVENT_NEGATIVE, "dt": 30.0},
+            {"type": EVENT_NEGATIVE, "dt": 60.0},
+        ]
+        mood = compute_mood(soul, score=10.0, interaction_count=10, recent_events=events)
+        assert mood == MOOD_ANNOYED
+
+    def test_one_negative_not_annoyed(self):
+        soul = _minimal_soul(humor_level=7, threshold_regular=5, threshold_favorite=20)
+        events = [{"type": EVENT_NEGATIVE, "dt": 30.0}]
+        # 1 negative is not enough → should still be happy/playful based on score
+        mood = compute_mood(soul, score=25.0, interaction_count=25, recent_events=events)
+        assert mood != MOOD_ANNOYED
+
+    def test_high_humor_regular_returns_playful(self):
+        soul = _minimal_soul(humor_level=8, threshold_regular=5, threshold_favorite=20)
+        events = [{"type": EVENT_POSITIVE, "dt": 10.0}]
+        mood = compute_mood(soul, score=10.0, interaction_count=8, recent_events=events)
+        assert mood == MOOD_PLAYFUL
+
+    def test_low_humor_regular_returns_happy(self):
+        soul = _minimal_soul(humor_level=4, threshold_regular=5, threshold_favorite=20)
+        events = [{"type": EVENT_POSITIVE, "dt": 10.0}]
+        mood = compute_mood(soul, score=10.0, interaction_count=8, recent_events=events)
+        assert mood == MOOD_HAPPY
+
+    def test_stale_negative_ignored(self):
+        soul = _minimal_soul(humor_level=8, threshold_regular=5, threshold_favorite=20)
+        # dt > 120s → outside the recent window → should not trigger annoyed
+        events = [
+            {"type": EVENT_NEGATIVE, "dt": 200.0},
+            {"type": EVENT_NEGATIVE, "dt": 300.0},
+        ]
+        mood = compute_mood(soul, score=15.0, interaction_count=10, recent_events=events)
+        assert mood != MOOD_ANNOYED
+
+    def test_favorite_high_humor_playful(self):
+        soul = _minimal_soul(humor_level=9, threshold_regular=5, threshold_favorite=20)
+        mood = compute_mood(soul, score=50.0, interaction_count=30, recent_events=[])
+        assert mood == MOOD_PLAYFUL
+
+    def test_favorite_low_humor_happy(self):
+        soul = _minimal_soul(humor_level=3, threshold_regular=5, threshold_favorite=20)
+        mood = compute_mood(soul, score=50.0, interaction_count=30, recent_events=[])
+        assert mood == MOOD_HAPPY
+
+
+class TestBuildGreeting:
+    def _soul(self, **kw):
+        return _minimal_soul(
+            mood_prefix_happy="Great — ",
+            mood_prefix_curious="Hmm, ",
+            mood_prefix_annoyed="Well, ",
+            mood_prefix_playful="Beep boop! ",
+            **kw,
+        )
+
+    def test_stranger_greeting(self):
+        soul = self._soul()
+        g = build_greeting(soul, TIER_STRANGER, MOOD_CURIOUS, "")
+        assert "hello" in g.lower()
+
+    def test_regular_greeting_contains_name(self):
+        soul = self._soul()
+        g = build_greeting(soul, TIER_REGULAR, MOOD_HAPPY, "alice")
+        assert "alice" in g
+
+    def test_favorite_greeting_contains_name(self):
+        soul = self._soul()
+        g = build_greeting(soul, TIER_FAVORITE, MOOD_PLAYFUL, "bob")
+        assert "bob" in g
+
+    def test_mood_prefix_applied(self):
+        soul = self._soul()
+        g = build_greeting(soul, TIER_REGULAR, MOOD_PLAYFUL, "alice")
+        assert g.startswith("Beep boop!")
+
+    def test_no_prefix_key_no_prefix(self):
+        soul = _minimal_soul()  # no mood_prefix_* keys
+        g = build_greeting(soul, TIER_REGULAR, MOOD_HAPPY, "alice")
+        assert g.startswith("Hey")
+
+    def test_empty_person_id_uses_friend(self):
+        soul = self._soul()
+        g = build_greeting(soul, TIER_REGULAR, MOOD_HAPPY, "")
+        assert "friend" in g
+
+    def test_happy_prefix(self):
+        soul = self._soul()
+        g = build_greeting(soul, TIER_REGULAR, MOOD_HAPPY, "carol")
+        assert g.startswith("Great")
+
+    def test_annoyed_prefix(self):
+        soul = self._soul()
+        g = build_greeting(soul, TIER_REGULAR, MOOD_ANNOYED, "dave")
+        assert g.startswith("Well")
+
+
+# ═══════════════════════════════════════════════════════════════════════════════
+# relationship_db tests
+# ═══════════════════════════════════════════════════════════════════════════════
+
+class TestRelationshipDB:
+    @pytest.fixture
+    def db(self, tmp_path):
+        path = str(tmp_path / "test.db")
+        d = RelationshipDB(path)
+        yield d
+        d.close()
+
+    def test_get_person_creates_default(self, db):
+        p = db.get_person("alice")
+        assert p["person_id"] == "alice"
+        assert p["score"] == pytest.approx(0.0)
+        assert p["interaction_count"] == 0
+
+    def test_get_person_idempotent(self, db):
+        p1 = db.get_person("bob")
+        p2 = db.get_person("bob")
+        assert p1["person_id"] == p2["person_id"]
+
+    def test_record_interaction_increments_count(self, db):
+        db.record_interaction("alice", "detection")
+        db.record_interaction("alice", "detection")
+        p = db.get_person("alice")
+        assert p["interaction_count"] == 2
+
+    def test_record_interaction_updates_score(self, db):
+        db.record_interaction("alice", "positive", delta_score=5.0)
+        p = db.get_person("alice")
+        assert p["score"] == pytest.approx(5.0)
+
+    def test_negative_delta_reduces_score(self, db):
+        db.record_interaction("carol", "positive",  delta_score=10.0)
+        db.record_interaction("carol", "negative",  delta_score=-3.0)
+        p = db.get_person("carol")
+        assert p["score"] == pytest.approx(7.0)
+
+    def test_score_zero_by_default(self, db):
+        p = db.get_person("dave")
+        assert p["score"] == pytest.approx(0.0)
+
+    def test_set_and_get_pref(self, db):
+        db.set_pref("alice", "language", "en")
+        assert db.get_pref("alice", "language") == "en"
+
+    def test_get_pref_default(self, db):
+        assert db.get_pref("nobody", "language", "fr") == "fr"
+
+    def test_multiple_prefs_stored(self, db):
+        db.set_pref("alice", "lang", "en")
+        db.set_pref("alice", "name", "Alice")
+        assert db.get_pref("alice", "lang") == "en"
+        assert db.get_pref("alice", "name") == "Alice"
+
+    def test_all_people_returns_list(self, db):
+        db.record_interaction("a", "detection")
+        db.record_interaction("b", "detection")
+        people = db.all_people()
+        ids = {p["person_id"] for p in people}
+        assert {"a", "b"} <= ids
+
+    def test_get_recent_events_returns_events(self, db):
+        db.record_interaction("alice", "greeting", delta_score=1.0)
+        events = db.get_recent_events("alice", window_s=60.0)
+        assert len(events) == 1
+        assert events[0]["type"] == "greeting"
+
+    def test_get_recent_events_empty_for_new_person(self, db):
+        events = db.get_recent_events("nobody", window_s=60.0)
+        assert events == []
+
+    def test_event_dt_positive(self, db):
+        db.record_interaction("alice", "detection")
+        events = db.get_recent_events("alice", window_s=60.0)
+        assert events[0]["dt"] >= 0.0
+
+    def test_multiple_people_isolated(self, db):
+        db.record_interaction("alice", "positive", delta_score=10.0)
+        db.record_interaction("bob",   "negative", delta_score=-5.0)
+        assert db.get_person("alice")["score"] == pytest.approx(10.0)
+        assert db.get_person("bob")["score"]   == pytest.approx(-5.0)
+
+    def test_details_stored(self, db):
+        db.record_interaction("alice", "greeting", details={"location": "lab"})
+        events = db.get_recent_events("alice", window_s=60.0)
+        assert events[0]["details"].get("location") == "lab"
+
+
+# ═══════════════════════════════════════════════════════════════════════════════
+# Integration: soul → tier → mood → greeting pipeline
+# ═══════════════════════════════════════════════════════════════════════════════
+
+class TestIntegrationPipeline:
+
+    def test_stranger_pipeline(self, tmp_path):
+        db_path = str(tmp_path / "int.db")
+        db = RelationshipDB(db_path)
+        soul = _minimal_soul(
+            humor_level=7, threshold_regular=5, threshold_favorite=20,
+            mood_prefix_curious="Hmm, "
+        )
+        # No prior interactions
+        person = db.get_person("stranger_001")
+        events = db.get_recent_events("stranger_001")
+        tier    = get_relationship_tier(soul, person["interaction_count"])
+        mood    = compute_mood(soul, person["score"], person["interaction_count"], events)
+        greeting = build_greeting(soul, tier, mood, "stranger_001")
+
+        assert tier == TIER_STRANGER
+        assert mood == MOOD_CURIOUS
+        assert "hello" in greeting.lower()
+        db.close()
+
+    def test_regular_positive_pipeline(self, tmp_path):
+        db_path = str(tmp_path / "int2.db")
+        db = RelationshipDB(db_path)
+        soul = _minimal_soul(
+            humor_level=8, threshold_regular=5, threshold_favorite=20,
+            mood_prefix_playful="Beep! "
+        )
+        # Simulate 6 positive interactions (> threshold_regular=5)
+        for _ in range(6):
+            db.record_interaction("alice", "positive", delta_score=2.0)
+
+        person = db.get_person("alice")
+        events = db.get_recent_events("alice")
+        tier    = get_relationship_tier(soul, person["interaction_count"])
+        mood    = compute_mood(soul, person["score"], person["interaction_count"], events)
+        greeting = build_greeting(soul, tier, mood, "alice")
+
+        assert tier == TIER_REGULAR
+        assert mood == MOOD_PLAYFUL     # humor_level=8, recent positive events
+        assert "alice" in greeting
+        assert greeting.startswith("Beep!")
+        db.close()
+
+    def test_favorite_pipeline(self, tmp_path):
+        db_path = str(tmp_path / "int3.db")
+        db = RelationshipDB(db_path)
+        soul = _minimal_soul(
+            humor_level=5, threshold_regular=5, threshold_favorite=20
+        )
+        for _ in range(25):
+            db.record_interaction("bob", "positive", delta_score=1.0)
+
+        person = db.get_person("bob")
+        tier    = get_relationship_tier(soul, person["interaction_count"])
+        assert tier == TIER_FAVORITE
+        greeting = build_greeting(soul, tier, "happy", "bob")
+        assert "bob" in greeting
+        assert "Oh hey" in greeting
+        db.close()