jetson/ros2_ws/src/saltybot_bringup/config/pulseaudio-magedok.conf

@@ -1,20 +0,0 @@
-# PulseAudio Configuration for MageDok HDMI Audio
-# Routes HDMI audio from DisplayPort adapter to internal speaker output
-
-# Detect and load HDMI output module
-load-module module-alsa-sink device=hw:0,3 sink_name=hdmi_stereo sink_properties="device.description='HDMI Audio'"
-
-# Detect and configure internal speaker (fallback)
-load-module module-alsa-sink device=hw:0,0 sink_name=speaker_mono sink_properties="device.description='Speaker'"
-
-# Set HDMI as default output sink
-set-default-sink hdmi_stereo
-
-# Enable volume control
-load-module module-volume-restore
-
-# Auto-switch to HDMI when connected
-load-module module-switch-on-connect
-
-# Log sink configuration
-.load-if-exists /etc/pulse/magedok-routing.conf

jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf

@@ -1,33 +0,0 @@
-# X11 Configuration for MageDok 7" Display
-# Resolution: 1024×600 @ 60Hz
-# Output: HDMI via DisplayPort adapter
-
-Section "Monitor"
-    Identifier      "MageDok"
-    Option          "PreferredMode" "1024x600_60.00"
-    Option          "Position" "0 0"
-    Option          "Primary" "true"
-EndSection
-
-Section "Screen"
-    Identifier      "Screen0"
-    Monitor         "MageDok"
-    DefaultDepth    24
-    SubSection "Display"
-        Depth       24
-        Modes       "1024x600" "1024x768" "800x600" "640x480"
-    EndSubSection
-EndSection
-
-Section "Device"
-    Identifier      "NVIDIA Tegra"
-    Driver          "nvidia"
-    BusID           "PCI:0:0:0"
-    Option          "RegistryDwords" "EnableBrightnessControl=1"
-    Option          "ConnectedMonitor" "HDMI-0"
-EndSection
-
-Section "ServerLayout"
-    Identifier      "Default"
-    Screen          "Screen0"
-EndSection

jetson/ros2_ws/src/saltybot_bringup/docs/MAGEDOK_DISPLAY_SETUP.md

@@ -1,218 +0,0 @@
-# MageDok 7" Touchscreen Display Setup
-
-Issue #369: Display setup for MageDok 7" IPS touchscreen on Jetson Orin Nano.
-
-## Hardware Setup
-
-### Connections
-- **Video**: DisplayPort → HDMI cable from Orin DP 1.2 connector to MageDok HDMI input
-- **Touch**: USB 3.0 cable from Orin USB-A to MageDok USB-C connector
-- **Audio**: HDMI carries embedded audio from DisplayPort (no separate audio cable needed)
-
-### Display Specs
-- **Resolution**: 1024×600 @ 60Hz
-- **Panel Type**: 7" IPS (In-Plane Switching) - wide viewing angles
-- **Sunlight Readable**: Yes, with high brightness
-- **Built-in Speakers**: Yes (via HDMI audio)
-
-## Installation Steps
-
-### 1. Kernel and Display Driver Configuration
-
-```bash
-# Update display mode database (if needed)
-sudo apt-get update && sudo apt-get install -y xrandr x11-utils edid-decode
-
-# Verify X11 is running
-echo $DISPLAY  # Should show :0 or :1
-
-# Check connected displays
-xrandr --query
-```
-
-**Expected output**: HDMI-1 connected at 1024x600 resolution
-
-### 2. Install udev Rules for Touch Input
-
-```bash
-# Copy udev rules
-sudo cp jetson/ros2_ws/src/saltybot_bringup/udev/90-magedok-touch.rules \
-    /etc/udev/rules.d/
-
-# Reload udev
-sudo udevadm control --reload-rules
-sudo udevadm trigger
-
-# Verify touch device
-ls -l /dev/magedok-touch
-# Or check input devices
-cat /proc/bus/input/devices | grep -i "eGTouch\|EETI"
-```
-
-### 3. X11 Display Configuration
-
-```bash
-# Backup original X11 config
-sudo cp /etc/X11/xorg.conf /etc/X11/xorg.conf.backup
-
-# Apply MageDok X11 config
-sudo cp jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf \
-    /etc/X11/xorg.conf
-
-# Restart X11 (or reboot)
-sudo systemctl restart gdm3  # or startx if using console
-```
-
-### 4. PulseAudio Audio Routing
-
-```bash
-# Check current audio sinks
-pactl list sinks | grep Name
-
-# Find HDMI sink (typically contains "hdmi" in name)
-pactl set-default-sink <hdmi-sink-name>
-
-# Verify routing
-pactl get-default-sink
-
-# Optional: Set volume
-pactl set-sink-volume <sink-name> 70%
-```
-
-### 5. ROS2 Launch Configuration
-
-```bash
-# Build the saltybot_bringup package
-cd jetson/ros2_ws
-colcon build --packages-select saltybot_bringup
-
-# Source workspace
-source install/setup.bash
-
-# Launch display setup
-ros2 launch saltybot_bringup magedok_display.launch.py
-```
-
-### 6. Enable Auto-Start on Boot
-
-```bash
-# Copy systemd service
-sudo cp jetson/ros2_ws/src/saltybot_bringup/systemd/magedok-display.service \
-    /etc/systemd/system/
-
-# Enable service
-sudo systemctl daemon-reload
-sudo systemctl enable magedok-display.service
-
-# Start service
-sudo systemctl start magedok-display.service
-
-# Check status
-sudo systemctl status magedok-display.service
-sudo journalctl -u magedok-display -f  # Follow logs
-```
-
-## Verification
-
-### Display Resolution
-```bash
-# Check actual resolution
-xdotool getactivewindow getwindowgeometry
-
-# Verify with xrandr
-xrandr | grep "1024x600"
-```
-
-**Expected**: `1024x600_60.00 +0+0` or similar
-
-### Touch Input
-```bash
-# List input devices
-xinput list
-
-# Should show "MageDok Touch" or "eGTouch Controller"
-# Test touch by clicking on display - cursor should move
-```
-
-### Audio
-```bash
-# Test HDMI audio
-speaker-test -c 2 -l 1 -s 1 -t sine
-
-# Verify volume level
-pactl list sinks | grep -A 10 RUNNING
-```
-
-## Troubleshooting
-
-### Display Not Detected
-
-```bash
-# Check EDID data
-edid-decode /sys/class/drm/card0-HDMI-A-1/edid
-
-# Force resolution
-xrandr --output HDMI-1 --mode 1024x600 --rate 60
-
-# Check kernel logs
-dmesg | grep -i "drm\|HDMI\|dp"
-```
-
-### Touch Not Working
-
-```bash
-# Check USB connection
-lsusb | grep -i "eGTouch\|EETI"
-
-# Verify udev rules applied
-cat /etc/udev/rules.d/90-magedok-touch.rules
-
-# Test touch device directly
-evtest /dev/magedok-touch  # Or /dev/input/eventX
-```
-
-### Audio Not Routing
-
-```bash
-# Check PulseAudio daemon
-pulseaudio --version
-systemctl status pulseaudio
-
-# Restart PulseAudio
-systemctl --user restart pulseaudio
-
-# Monitor audio stream
-pactl list sink-inputs
-```
-
-### Display Disconnection (Headless Fallback)
-
-The system should continue operating normally with display disconnected:
-- ROS2 services remain accessible via network
-- Robot commands via `/cmd_vel` continue working
-- Data logging and telemetry unaffected
-- Dashboard accessible via SSH/webui from other machine
-
-## Testing Checklist
-
-- [ ] Display shows 1024×600 resolution
-- [ ] Touch input registers in xinput (test by moving cursor)
-- [ ] Audio plays through display speakers
-- [ ] System boots without login prompt (if using auto-start)
-- [ ] All ROS2 nodes launch correctly with display
-- [ ] System operates normally when display is disconnected
-- [ ] `/magedok/touch_status` topic shows true (ROS2 verify script)
-- [ ] `/magedok/audio_status` topic shows HDMI sink (ROS2 audio router)
-
-## Related Issues
-
-- **#368**: Salty Face UI (depends on this display setup)
-- **#370**: Animated expression UI
-- **#371**: Deaf/accessibility mode with touch keyboard
-
-## References
-
-- MageDok 7" Specs: [HDMI, 1024×600, USB Touch, Built-in Speakers]
-- Jetson Orin Nano DisplayPort Output: Requires active adapter (no DP Alt Mode on USB-C)
-- PulseAudio: HDMI audio sink routing via ALSA
-- X11/Xrandr: Display mode configuration

jetson/ros2_ws/src/saltybot_bringup/launch/magedok_display.launch.py

@@ -1,59 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok 7" Display Launch Configuration
-- Video: DisplayPort → HDMI (1024×600)
-- Touch: USB HID
-- Audio: HDMI → internal speakers via PulseAudio
-"""
-
-import os
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import ExecuteProcess
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        # Log startup
-        ExecuteProcess(
-            cmd=['echo', '[MageDok] Display setup starting...'],
-            shell=True,
-        ),
-
-        # Verify display resolution
-        Node(
-            package='saltybot_bringup',
-            executable='verify_display.py',
-            name='display_verifier',
-            parameters=[
-                {'target_width': 1024},
-                {'target_height': 600},
-                {'target_refresh': 60},
-            ],
-            output='screen',
-        ),
-
-        # Monitor touch input
-        Node(
-            package='saltybot_bringup',
-            executable='touch_monitor.py',
-            name='touch_monitor',
-            parameters=[
-                {'device_name': 'MageDok Touch'},
-                {'poll_interval': 0.1},
-            ],
-            output='screen',
-        ),
-
-        # Audio routing (PulseAudio sink redirection)
-        Node(
-            package='saltybot_bringup',
-            executable='audio_router.py',
-            name='audio_router',
-            parameters=[
-                {'hdmi_sink': 'alsa_output.pci-0000_00_1d.0.hdmi-stereo'},
-                {'default_sink': True},
-            ],
-            output='screen',
-        ),
-    ])

jetson/ros2_ws/src/saltybot_bringup/scripts/audio_router.py

@@ -1,97 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok Audio Router
-Routes HDMI audio from DisplayPort adapter to internal speakers via PulseAudio
-"""
-
-import subprocess
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-
-
-class AudioRouter(Node):
-    def __init__(self):
-        super().__init__('audio_router')
-
-        self.declare_parameter('hdmi_sink', 'alsa_output.pci-0000_00_1d.0.hdmi-stereo')
-        self.declare_parameter('default_sink', True)
-
-        self.hdmi_sink = self.get_parameter('hdmi_sink').value
-        self.set_default = self.get_parameter('default_sink').value
-
-        self.audio_status_pub = self.create_publisher(String, '/magedok/audio_status', 10)
-
-        self.get_logger().info('Audio Router: Configuring HDMI audio routing...')
-        self.setup_pulseaudio()
-
-        # Check status every 5 seconds
-        self.create_timer(5.0, self.check_audio_status)
-
-    def setup_pulseaudio(self):
-        """Configure PulseAudio to route HDMI audio"""
-        try:
-            # List available sinks
-            result = subprocess.run(['pactl', 'list', 'sinks'], capture_output=True, text=True, timeout=5)
-            sinks = self._parse_pa_sinks(result.stdout)
-
-            if not sinks:
-                self.get_logger().warn('No PulseAudio sinks detected')
-                return
-
-            self.get_logger().info(f'Available sinks: {", ".join(sinks.keys())}')
-
-            # Find HDMI or use first available
-            hdmi_sink = None
-            for name in sinks.keys():
-                if 'hdmi' in name.lower() or 'HDMI' in name:
-                    hdmi_sink = name
-                    break
-
-            if not hdmi_sink:
-                hdmi_sink = list(sinks.keys())[0]  # Fallback to first sink
-                self.get_logger().warn(f'HDMI sink not found, using: {hdmi_sink}')
-            else:
-                self.get_logger().info(f'✓ HDMI sink identified: {hdmi_sink}')
-
-            # Set as default if requested
-            if self.set_default:
-                subprocess.run(['pactl', 'set-default-sink', hdmi_sink], timeout=5)
-                self.get_logger().info(f'✓ Audio routed to: {hdmi_sink}')
-
-        except Exception as e:
-            self.get_logger().error(f'PulseAudio setup failed: {e}')
-
-    def _parse_pa_sinks(self, pactl_output):
-        """Parse 'pactl list sinks' output"""
-        sinks = {}
-        current_sink = None
-        for line in pactl_output.split('\n'):
-            if line.startswith('Sink #'):
-                current_sink = line.split('#')[1].strip()
-            elif '\tName: ' in line and current_sink:
-                name = line.split('Name: ')[1].strip()
-                sinks[name] = current_sink
-        return sinks
-
-    def check_audio_status(self):
-        """Verify audio is properly routed"""
-        try:
-            result = subprocess.run(['pactl', 'get-default-sink'], capture_output=True, text=True, timeout=5)
-            status = String()
-            status.data = result.stdout.strip()
-            self.audio_status_pub.publish(status)
-            self.get_logger().debug(f'Current audio sink: {status.data}')
-        except Exception as e:
-            self.get_logger().warn(f'Audio status check failed: {e}')
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    router = AudioRouter()
-    rclpy.spin(router)
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_bringup/scripts/touch_monitor.py

@@ -1,88 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok Touch Input Monitor
-Verifies USB touch device is recognized and functional
-"""
-
-import os
-import subprocess
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String, Bool
-
-
-class TouchMonitor(Node):
-    def __init__(self):
-        super().__init__('touch_monitor')
-
-        self.declare_parameter('device_name', 'MageDok Touch')
-        self.declare_parameter('poll_interval', 0.1)
-
-        self.device_name = self.get_parameter('device_name').value
-        self.poll_interval = self.get_parameter('poll_interval').value
-
-        self.touch_status_pub = self.create_publisher(Bool, '/magedok/touch_status', 10)
-        self.device_info_pub = self.create_publisher(String, '/magedok/device_info', 10)
-
-        self.get_logger().info(f'Touch Monitor: Scanning for {self.device_name}...')
-        self.detect_touch_device()
-
-        # Publish status every 2 seconds
-        self.create_timer(2.0, self.publish_status)
-
-    def detect_touch_device(self):
-        """Detect MageDok touch device via USB"""
-        try:
-            # Check lsusb for MageDok or eGTouch device
-            result = subprocess.run(['lsusb'], capture_output=True, text=True, timeout=5)
-            lines = result.stdout.split('\n')
-
-            for line in lines:
-                if 'eGTouch' in line or 'EETI' in line or 'MageDok' in line or 'touch' in line.lower():
-                    self.get_logger().info(f'✓ Touch device found: {line.strip()}')
-                    msg = String()
-                    msg.data = line.strip()
-                    self.device_info_pub.publish(msg)
-                    return True
-
-            # Fallback: check input devices
-            result = subprocess.run(['grep', '-l', 'eGTouch\|EETI\|MageDok', '/proc/bus/input/devices'],
-                                    capture_output=True, text=True, timeout=5)
-            if result.returncode == 0:
-                self.get_logger().info('✓ Touch device registered in /proc/bus/input/devices')
-                return True
-
-            self.get_logger().warn('⚠ Touch device not detected — ensure USB connection is secure')
-            return False
-
-        except Exception as e:
-            self.get_logger().error(f'Device detection failed: {e}')
-            return False
-
-    def publish_status(self):
-        """Publish current touch device status"""
-        try:
-            result = subprocess.run(['ls', '/dev/magedok-touch'], capture_output=True, timeout=2)
-            status = Bool()
-            status.data = (result.returncode == 0)
-            self.touch_status_pub.publish(status)
-
-            if status.data:
-                self.get_logger().debug('Touch device: ACTIVE')
-            else:
-                self.get_logger().warn('Touch device: NOT DETECTED')
-        except Exception as e:
-            status = Bool()
-            status.data = False
-            self.touch_status_pub.publish(status)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    monitor = TouchMonitor()
-    rclpy.spin(monitor)
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_bringup/scripts/verify_display.py

@@ -1,98 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok Display Verifier
-Validates that the 7" display is running at 1024×600 resolution
-"""
-
-import os
-import re
-import subprocess
-import rclpy
-from rclpy.node import Node
-
-
-class DisplayVerifier(Node):
-    def __init__(self):
-        super().__init__('display_verifier')
-
-        self.declare_parameter('target_width', 1024)
-        self.declare_parameter('target_height', 600)
-        self.declare_parameter('target_refresh', 60)
-
-        self.target_w = self.get_parameter('target_width').value
-        self.target_h = self.get_parameter('target_height').value
-        self.target_f = self.get_parameter('target_refresh').value
-
-        self.get_logger().info(f'Display Verifier: Target {self.target_w}×{self.target_h} @ {self.target_f}Hz')
-        self.verify_display()
-
-    def verify_display(self):
-        """Check current display resolution via xdotool or xrandr"""
-        try:
-            # Try xrandr first
-            result = subprocess.run(['xrandr'], capture_output=True, text=True, timeout=5)
-            if result.returncode == 0:
-                self.parse_xrandr(result.stdout)
-            else:
-                self.get_logger().warn('xrandr not available, checking edid-decode')
-                self.check_edid()
-        except Exception as e:
-            self.get_logger().error(f'Display verification failed: {e}')
-
-    def parse_xrandr(self, output):
-        """Parse xrandr output to find active display resolution"""
-        lines = output.split('\n')
-        for line in lines:
-            # Look for connected display with resolution
-            if 'connected' in line and 'primary' in line:
-                # Example: "HDMI-1 connected primary 1024x600+0+0 (normal left inverted right)"
-                match = re.search(r'(\d+)x(\d+)', line)
-                if match:
-                    width, height = int(match.group(1)), int(match.group(2))
-                    self.verify_resolution(width, height)
-                    return
-
-        self.get_logger().warn('Could not determine active display from xrandr')
-
-    def verify_resolution(self, current_w, current_h):
-        """Validate resolution matches target"""
-        if current_w == self.target_w and current_h == self.target_h:
-            self.get_logger().info(f'✓ Display verified: {current_w}×{current_h} [OK]')
-        else:
-            self.get_logger().warn(f'⚠ Display mismatch: Expected {self.target_w}×{self.target_h}, got {current_w}×{current_h}')
-            self.attempt_set_resolution()
-
-    def attempt_set_resolution(self):
-        """Try to set resolution via xrandr"""
-        try:
-            # Find HDMI output
-            result = subprocess.run(
-                ['xrandr', '--output', 'HDMI-1', '--mode', f'{self.target_w}x{self.target_h}', '--rate', str(self.target_f)],
-                capture_output=True, text=True, timeout=5
-            )
-            if result.returncode == 0:
-                self.get_logger().info(f'✓ Resolution set to {self.target_w}×{self.target_h} @ {self.target_f}Hz')
-            else:
-                self.get_logger().warn(f'Resolution change failed: {result.stderr}')
-        except Exception as e:
-            self.get_logger().error(f'Could not set resolution: {e}')
-
-    def check_edid(self):
-        """Fallback: check EDID (Extended Display ID) data"""
-        try:
-            result = subprocess.run(['edid-decode', '/sys/class/drm/card0-HDMI-A-1/edid'],
-                                    capture_output=True, text=True, timeout=5)
-            if 'Established timings' in result.stdout:
-                self.get_logger().info('Display EDID detected (MageDok 1024×600 display)')
-        except:
-            self.get_logger().warn('EDID check unavailable')
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    verifier = DisplayVerifier()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_bringup/systemd/magedok-display.service

@@ -1,26 +0,0 @@
-[Unit]
-Description=MageDok 7" Display Setup and Auto-Launch
-Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/369
-After=network-online.target
-Wants=network-online.target
-ConditionPathExists=/dev/pts/0
-
-[Service]
-Type=oneshot
-ExecStartPre=/bin/sleep 2
-ExecStart=/usr/bin/env bash -c 'source /opt/ros/jazzy/setup.bash && ros2 launch saltybot_bringup magedok_display.launch.py'
-ExecStartPost=/usr/bin/env bash -c 'DISPLAY=:0 /usr/bin/startx -- :0 vt7 -nolisten tcp 2>/dev/null &'
-
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=magedok-display
-User=orin
-Group=orin
-Environment="DISPLAY=:0"
-Environment="XAUTHORITY=/home/orin/.Xauthority"
-
-Restart=on-failure
-RestartSec=5
-
-[Install]
-WantedBy=multi-user.target

jetson/ros2_ws/src/saltybot_bringup/udev/90-magedok-touch.rules

@@ -1,19 +0,0 @@
-# MageDok 7" Touchscreen USB Device Rules
-# Ensure touch device is recognized and accessible
-
-# Generic USB touch input device (MageDok)
-# Manufacturer typically reports as: EETI eGTouch Controller
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", TAG="uaccess"
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", TAG="uaccess"
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*MageDok*", TAG="uaccess"
-
-# Fallback: Any USB device with touch capability (VID/PID may vary by batch)
-SUBSYSTEM=="usb", ATTRS{bInterfaceClass}=="03", ATTRS{bInterfaceSubClass}=="01", TAG="uaccess"
-
-# Create /dev/magedok-touch symlink for consistent reference
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", SYMLINK="magedok-touch"
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", SYMLINK="magedok-touch"
-
-# Permissions: 0666 (rw for all users)
-SUBSYSTEM=="input", KERNEL=="event*", MODE="0666"
-SUBSYSTEM=="input", KERNEL=="mouse*", MODE="0666"